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

doi:10.3901/JME.2023.19.202

Abstract

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

CLC Number:

TH112

LIU Xinjun, YU Jingjun, XIE Fugui, ZHAO Huichan, MENG Qizhi. Behaviour-based Mechanism and the Innovative Design of High-end Equipment[J]. Journal of Mechanical Engineering, 2023, 59(19): 202-212.

References

[1] 国家自然科学基金委员会工程与材料科学部. 机械工程学科发展战略报告(2011-2020)[M]. 北京:科学出版社,2010. Department of Engineering and Materials Science,National Natural Science Foundation of China. Strategic report on the development of mechanical engineering discipline (2011-2020)[M]. Beijing:Science Press,2010.
[2] 国家自然科学基金委员会工程与材料科学部. 机械工程学科发展战略报告(2021-2035)[M]. 北京:科学出版社,2021. Department of Engineering and Materials Science, National Natural Science Foundation of China. Strategic report on the development of mechanical engineering discipline (2021-2035)[M]. Beijing:Science Press,2021.
[3] 高峰. 机构学研究现状与发展趋势的思考[J]. 机械工程学报,2005,41(8):3-17. GAO Feng. Reflection on the current status and development strategy of mechanism research[J]. Journal of Mechanical Engineering,2005,41(8):3-17.
[4] 孙久荣,戴振东. 动物行为仿生学[M]. 北京:科学出版社,2013. SUN Jiurong,DAI Zhendong. Animal behavior bionics[M],Beijing:Science Press,2013.
[5] 刘辛军,谢福贵,汪劲松. 当前中国机构学面临的机遇[J]. 机械工程学报,2015,51(13):2-12. LIU Xinjun,XIE Fugui,WANG Jinsong. Current opportunities in the field of mechanisms in China[J]. Journal of Mechanical Engineering,2015,51(13):2-12.
[6] 谢福贵,梅斌,刘辛军,等. 一种大型复杂构件加工新模式及新装备探讨[J]. 机械工程学报,2020,56(19):70-78. XIE Fugui,MEI Bin,LIU Xinjun,et al. Novel mode and equipment for machining large complex components[J]. Journal of Mechanical Engineering,2020,56(19):70-78.
[7] 刘辛军,谢福贵,汪劲松. 并联机器人机构学基础[M]. 北京:高等教育出版社,2018. LIU Xinjun,XIE Fugui,WANG Jinsong. Fundamental of parallel robotic mechanisms[M]. Beijing:Higher Education Press,2018.
[8] HOWELL L L,MAGLEBY S P,OLSEN B M. Handbook of compliant mechanisms[M]. New York:Wiley,2013.
[9] 陈焱. 基于机构运动的大变形超材料[J]. 机械工程学报,2020,56(19):2-12. CHEN Yan. Review on kinematic metamaterials[J]. Journal of Mechanical Engineering,2020,56(19):2-12.
[10] MENG Qizhi,LIU Xinjun,XIE Fugui. Structure design and kinematic analysis of a class of ring truss deployable mechanisms for satellite antennas based on novel basic units[J]. Mechanism and Machine Theory,2022,174:104881.
[11] 王文龙,杨建中. 航天器对接与捕获技术综述[J]. 机械工程学报,2021,57(20):215-231. WANG Wenlong,YANG Jianzhong. Spacecraft docking & capture technology:Review[J]. Journal of Mechanical Engineering,2021,57(20):215-231.
[12] 李雨桐,王玉新,张旭光. 机械系统功能行为合成与创新[J]. 机械工程学报,2019,55(19):128-137. LI Yutong,WANG Yuxin,ZHANG Xuguang. Functional behaviors synthesis and innovation for mechanical systems[J]. Journal of Mechanical Engineering,2019,55(19):128-137.
[13] DING Liang,GAO Haibo,DENG Zongquan,et al. Foot-terrain interaction mechanics for legged robots:Modeling and experimental validation[J]. International Journal of Robotics Research,2013,32(13):1585-1606.
[14] ASBECK A T,CUTKOSKY M R. Designing compliant spine mechanisms for climbing[J]. Transactions of the ASME,Journal of Mechanisms and Robotics,2012,4,1-8.
[15] JIANG H,WANG S Q,CUTKOSKY M R. Stochastic models of compliant spine arrays for rough surface grasping[J]. International Journal of Robotics Research,2018,37(7):669-687.
[16] GREBENSTEIN M,CHALON M,FRIEDL W,et al. The hand of the DLR hand arm system:Designed for interaction[J]. International Journal of Robotics Research,2012,31(13):1531-1555.
[17] 蔡世波,陶志成,万伟伟,等. 机器人多指灵巧手的研究现状、趋势与挑战[J]. 机械工程学报,2021,57(15):1-14. CAI Shibo,TAO Zhicheng,WAN Weiwei,et al. Multi-fingered dexterous hands:From simplicity to complexity and simplifying complex applications[J]. Journal of Mechanical Engineering,2021,57(15):1-14.
[18] QAISER Z,JOHNSON S. Generalized spiral spring:A bioinspired tunable stiffness mechanism for linear response with high resolution[J]. Transactions of the ASME,Journal of Mechanisms and Robotics,2021,13(1):011007.
[19] SEFFEN K. Compliant shell mechanisms[J]. Philosophical Transactions of the Royal Society,2012,370(1965):2010-2026.
[20] 宋波,张磊,王晓波,等. 面向航空航天的增材制造超材料的研究现状及发展趋势[J]. 航空制造技术,2022,65(14):22-33. SONG Bo,ZHANG Lei,WANG Xiaobo,et al. Research status and development trend of additive manufacturing metamaterials toward aerospace[J]. Aeronautical Manufacturing Technology,2022,65(14):22-33.
[21] SICILIANO B,KHATIB O. Handbook of robotics[M]. 2nd ed. Heidelberg:Springer,2016.
[22] 刘辛军,于靖军,王国彪,等. 机器人研究进展与科学挑战[J]. 中国科学基金,2016,30(5):425-431. LIU Xinjun,YU Jingjun,WANG Guobiao,et al. Research trend and scientific challenge of robotics[J]. Science Foundation in China,2016,30(5):425-431.
[23] DING Han,YANG Xuejun,ZHENG Nanning,et al. Tri-Co robot:A Chinese robotic research initiative for enhanced robot interaction capabilities[J]. National Science Review,2018,5(6):799-801.
[24] 赖一楠,叶鑫,丁汉. 共融机器人重大研究计划研究进展[J]. 机械工程学报,2021,57(23):1-11. LAI Yinan,YE Xin,DING Han. Research progress of major research plan on Tri-Co robots[J]. Journal of Mechanical Engineering,2021,57(23):1-11.
[25] YANG Guangzhong,BELLINGHAM J,DUPONT P E,et al. The grand challenges of science robotics[J]. Science Robotics,2018,3(14):7650.
[26] 王田苗,郝雨飞,杨兴帮,等. 软体机器人:结构、驱动、传感与控制[J]. 机械工程学报,2017,53(13):1-13. WANG Tianmiao,HAO Yufei,YANG Xingbang,et al. Soft robotics:Structure,actuation,sensing and control[J]. Journal of Mechanical Engineering,2017,53(13):1-13.
[27] FAN Jun,XIONG Caihua,HUANG Zhongkui,et al. A lightweight biomechanical energy harvester with high power density and low metabolic cost[J]. Energy Conversion and Management,2019,195:641-649.
[28] ZHAO Jieliang,YAN Shaoze,DENG L R,et al. Design and analysis of biomimetic nose cone for morphing of aerospace vehicle[J]. Journal of Bionic Engineering,2017,14(2):47-54.
[29] LIU Yujiong,BEN-TZVI P. Design,analysis,and integration of a new two-degree-of-freedom articulated multi-link robotic tail mechanism[J]. Transactions of the ASME,Journal of Mechanisms and Robotics,2020,12(2):021101.
[30] 荆泓玮,朱延河,赵思恺,等. 外肢体机器人研究现状及发展趋势[J]. 机械工程学报,2020,56(7):1-9. JING Hongwei,ZHU Yanhe,ZHAO Sikai,et al. Research status and development trend of supernumerary robotic limbs[J]. Journal of Mechanical Engineering,2020,56(7):1-9.
[31] HU W Q,LUM G Z,MASTRANGELI M,et al. Small-scale soft-bodied robot with multimodal locomotion[J]. Nature,2018,554(7690):81-85.
[32] 梁友鉴,赵杰亮,阎绍泽. 基于蜜蜂腹部变体机制的空天飞行器仿生变体头锥设计[J]. 机械工程学报,2020,56(5):18-23. LIANG Youjian,ZHAO Jieliang,YAN Shaoze. Bionic design of morphing nose cone for aerospace vehicle based on the deformable mechanism of honeybee abdomen[J]. Journal of Mechanical Engineering,2020,56(5):18-23.
[33] ZHUO Shuyun,ZHAO Ziguang,XIE Zhexin,et al. Complex multiphase organohydrogels with programmable mechanics toward adaptive soft-matter machines[J]. Science Advances,2020,6(5):1464.
[34] JING Zhongliang,QIAO Lingfeng,PAN Han,et al. An overview of the configuration and manipulation of soft robotics for on-orbit servicing[J]. Science China Information Sciences,2017,60(5):50201.
[35] LI Guorui,CHEN Xiangping,ZHOU Fanghao,et al. Self-powered soft robot in the Mariana trench[J]. Nature,2021,591:66-71.