• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2023, Vol. 59 ›› Issue (19): 202-212.doi: 10.3901/JME.2023.19.202

• 数字化设计与制造 • 上一篇    下一篇

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行为机构学与高端装备创新设计

刘辛军1, 于靖军2, 谢福贵1, 赵慧婵1, 孟齐志1   

  1. 1. 清华大学机械工程系 北京 100084;
    2. 北京航空航天大学机器人研究所 北京 100191
  • 收稿日期:2023-03-02 修回日期:2023-07-15 出版日期:2023-10-05 发布日期:2023-12-11
  • 通讯作者: 刘辛军(通信作者),男,1971 年出生,博士,教授,博士研究生导师,国家杰出青年科学基金获得者,教育部"长江学者"特聘教授,国家"万人计划"领军人才,现任IFToMM中国委员会主席、中国机械工程学会第十二届理事会理事。主要研究方向为机构学与机器人、先进与智能制造装备。E-mail:xinjunliu@mail.tsinghua.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(92148301)。

Behaviour-based Mechanism and the Innovative Design of High-end Equipment

LIU Xinjun1, YU Jingjun2, XIE Fugui1, ZHAO Huichan1, MENG Qizhi1   

  1. 1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
    2. Robotics Institute, Beihang University, Beijing 100191
  • Received:2023-03-02 Revised:2023-07-15 Online:2023-10-05 Published:2023-12-11

摘要: 近年来,科技的迅猛发展对高端装备以及各类机器的环境适应性、交互能力等提出了更高要求,一类新的机构学研究方向——基于“交互特性”的行为机构学研究呼之欲出且迫在眉睫。在尝试阐述行为机构学内涵的基础上,重点展望行为机构学的6个重点研究方向和两大核心科学问题,其中重点研究方向包括机构与机器的行为学基础与表征方法、适应性机构学理论、超材料/超结构、面向群体/群智行为的机构综合理论与技术、人-机器人共融的机构学基础、面向性能保障与增强的其他行为机构学基础等。通过对航空航天领域复杂加工、太空深海探测等几个典型应用场景的示例枚举,展现行为机构学研究潜在重要的科学与工程价值,行为机构学对高端装备的创新设计和应用可起到重要支撑作用。

关键词: 行为机构学, 仿生机构, 共融机器人, 创新设计

Abstract: In recent years, the rapid development of science and technology has put forward higher requirements for the environmental adaptability and interaction ability of high-end equipment and various machines. A new research direction of mechanism, i.e., behaviour-based mechanism based on “interaction characteristics” is imminent. On the basis of trying to reveal the connotation of behaviour-based mechanism, six key research directions and two core scientific issues of behaviour-based mechanism are highlighted, including the behavioural basis and description methods of mechanisms and machines, adaptive mechanism theory, metamaterials and meta-structures, mechanism synthesis theory and technology for group-oriented and swarm intelligent behaviour, the mechanism foundation of human-robot interaction and Tri-Co robots, other behaviour-based mechanism foundations for performance assurance and enhancement. By enumerating cases of several typical application scenarios such as complex manufacturing in the aerospace field, deep space and sea exploration, the potentially important scientific and engineering value of behaviour-based mechanism research is demonstrated, which can play an important supporting role in the innovative design and application of high-end equipment.

Key words: behaviour-based mechanism, bionic mechanisms, tri-Co robot, innovative design

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