基于基本单元的结构功能型机构的综合

发布时间：2018-05-22 15:06

本文选题：拓扑结构 + 莫比乌斯拓扑　；参考：《北京邮电大学》2014年博士论文

【摘要】：本文针对一类特殊机构——结构功能型机构(Structure-based Mechanism, SBM)的拓扑结构、几何结构、构型综合、尺度综合和设计方法的系统的研究,以期推动机构学理论及机械产品创新设计的发展。本文主要研究了两类具有SBM性质的机构：放缩机构和远程中心机构。针对放缩机构进行了拓扑结构、几何结构特性、单元组合类型及优化、闭环过约束机构综合方法、机构优化设计方法及其软件开发的研究。针对远程中心机构提出了双远程中心机构的类型,并对双远程中心机构的构型综合、尺度综合方法、优化设计方法、微创手术应用开发做了研究；提出了多远程中心机构并对其进行了角度分析、位置分析、尺度综合方法研究、多远程中心放缩机构的应用与开发。第一部分主要基于图论中的拓扑结构描述方法,分析了一类闭环过约束机构——放缩机构在展开过程中的拓扑结构,并用拓扑图描述其拓扑结构特性。发现了一类具有平面拓扑性质的放缩机构的拓扑图,该拓扑图可以嵌入到棱柱面上,被称为棱柱图(Prism Graph);类具有非平面性质的拓扑结构,该结构符合Kuratowski定理,用于描述该结构的拓扑图可以嵌入到Mobius曲面上,被称为莫比乌斯图(Mobius Graph)。通过三角剖分法得到具有非平面拓扑性质的图的欧拉示性数与莫比乌斯拓扑的欧拉示性数相同。并对具有这两类拓扑性质的机构类型分析得出一类具有相同拓扑性质的机构类型。第二部分针对结构功能型机构在运动变化过程中的机构演化特性,提出了用于表示机构演变过程的邻接图及其铰链邻接矩阵,该方法可实现机构演变过程的数学描述。与变胞机构的拓扑图描述方法相比,该方法能更直观、全面的表达机构的结构信息,且应用更加广泛。用此方法对放缩机构、变胞机构、折纸机构等进行实例验证,得到更多的机构类型。第三部分研究了具有SBM性质的放缩机构在平面和空间图形放缩中的应用。研究方法从平面延伸到空间,首先研究了平面图形放缩机构构成的基本单元问题,提出了四边形单元构造平面图形放缩机构的方法。该方法将任意图形放缩机构的设计简化,仅需查阅表格即可构造任意平面图形放缩机构模型。对设计平面或空间图形的剪式单元进行优化,得到一类能增大机构放缩比的混合剪式放缩单元。应用此单元设计Fullerene多面体放缩机构。并对该类机构进行参数化模型设计及界面设计。第四部分对在微创外科手术应用广泛的远程中心(RCM)机构进行研究,分析其结构及运动特性,提出了通过增加SLAE构造双远程中心(dual-RCM)机构的方法,并对该类机构的构型及尺度综合方法进行分析。设计了一套可实现远程中心位置可调的双远程中心支架。进一步将该机构类型与眼科手术结合,提出了克服眼科手术过程中双眼不自主运动的概念设计。第五部分进一步分析dual-RCM机构的几何和运动性质,提出了基于多环运动链的多远程中心机构尺度综合方法。利用该方法进行平面开环及闭环多远程中心机构的设计。进一步分析多远程中心机构、闭环运动链和放缩机构的关联关系,提出了多远程中心放缩机构及折叠看台这两种具体应用。本文将由可动单元组合得到的具有结构变化性质的一类机构归纳为结构功能型机构。并对与其相关的拓扑学和机构学的理论和方法进行深入的分析,从而得到机构间的关联关系。机构学与建筑结构学结合为建造空间可展机构提供理论和实践基础；机构学与艺术学结合为机构学研究开辟了一条新的发展路径。机构学理论研究及机械产品的创新设计不仅仅是为实现某些功能,更可以改变人们的生活方式和价值观念,在延续人类文明中扮演重要的角色。
[Abstract]:This paper aims at the study of the topology, geometry, configuration synthesis, scale synthesis and design methods of a special kind of Structure-based Mechanism (SBM), in order to promote the development of the mechanism theory and the innovative design of mechanical products. This paper mainly studies the two kinds of institutions with SBM properties: The contraction mechanism and the remote center mechanism. The topology structure, the geometric structure characteristic, the unit combination type and the optimization, the closed loop over constraint mechanism synthesis method, the mechanism optimization design method and the software development research are carried out for the retracting mechanism. The configuration synthesis, the scale synthesis method, the optimization design method, the minimally invasive operation application development have been studied, and the multi remote center mechanism is put forward and the angle analysis, the position analysis, the scale synthesis method research, the application and development of the multi remote center retracting mechanism are carried out.
The first part is mainly based on the topology description method in graph theory, and analyzes the topology structure of a kind of closed loop over constraint mechanism in the expansion process, and describes its topological structure with topological graph. It is called Prism Graph; the class has a nonplanar topology, which conforms to the Kuratowski theorem. The topology of the structure can be embedded on the Mobius surface. It is called Moby U Stu (Mobius Graph). The number of Euler signs and the Mo Bi of a graph with non planar topological properties by triangulation is obtained by triangulation. The Euler indicative number of Si topology is the same. Moreover, a type of mechanism with the same topological properties is obtained by analyzing the type of mechanism with these two topological properties.
The second part, aiming at the mechanism evolution characteristic of the structural functional mechanism during the movement process, presents the adjacency graph and the hinge adjacency matrix which is used to express the evolution process of the mechanism. This method can realize the mathematical description of the evolution process of the mechanism. Compared with the topological graph description method of the variable cell mechanism, the method can be more intuitionistic and comprehensive. The structure information of the structure is widely applied. This method is used to verify the shrinkage mechanism, the metamorphic mechanism, the origami mechanism, and so on.
In the third part, the application of retracting mechanism with SBM properties in plane and space drawing shrinkage is studied. The research method is extended to space from plane to space. First, the basic unit problem of planar graph retracting mechanism is studied, and a method of constructing planar graphic retracting machine with quadrangle element is put forward. The design is simplified. The model of arbitrary planar graphic contraction mechanism can be constructed only by consulting a table. The shear unit of the design plane or space figure is optimized, and a kind of mixed shear retracting unit which can increase the ratio of the mechanism is obtained. The Fullerene polyhedron retracting mechanism is designed by using this unit. And the parameterized model of this kind of mechanism is set up. Design of interface.
The fourth part studies the remote center (RCM) mechanism which is widely used in minimally invasive surgery, analyzes its structure and motion characteristics, and proposes a method to construct a dual remote center (dual-RCM) mechanism by adding SLAE, and analyzes the configuration and scale synthesis method of this kind of mechanism. A set of adjustable remote center position is designed. The double remote center support is further combined with the ophthalmic surgery. The concept design of eye movement during eye surgery is proposed.
In the fifth part, the geometry and motion properties of dual-RCM mechanism are further analyzed, and a multi distance kinematic chain based multi distance center mechanism scale synthesis method is proposed. The method is used to design the planar open loop and closed loop multi remote center mechanism. The relationship between the multi remote center mechanism, the closed loop motion chain and the retracting mechanism is further analyzed. There are two specific applications: the remote center retractable mechanism and the folding stand.
In this paper, a class of structures with structural change properties obtained by the combination of movable elements are summed up as structural functional organizations. The theory and methods of topology and mechanism related to them are analyzed in depth, and the relationship between institutions is obtained. On the basis of the theory and practice, the combination of institutional and artistic studies has opened up a new path for the development of institutional studies. The research of institutional theory and the innovative design of mechanical products are not only for the realization of some functions, but also for changing people's way of life and values, and playing an important role in the continuation of human civilization.
【学位授予单位】：北京邮电大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TH112

【参考文献】