Assembly Scheme And Motion Control Design Technologies For Complex Electromechanical Products Based On Bionics And Their Application

This paper presents assembly scheme and motion control design technologies for complex electromechanical products based on Bionics, considering the defects of traditional product scheme design, such as abstractness, complexity and incomplete. The in-depth studies conducted in the paper are the key technologies in assembly scheme modeling, motion scheme variation and control scheme coupling. And the successful application in a practical project has proved the utility of the above technologies.Chapter 1, the significance and defect of scheme design for complex electromechanical products are pointed out. The current study status at home and abroad of scheme design for complex electromechanical products is demonstrated. The study status and defect of bionics' uses in scheme design for complex electromechanical products are analyzed, and on the basis of which, the technologies of scheme design for complex electromechanical products based on Bionics are proposed, and the primary research contents and the structure of this paper were given.Chapter 2, In order to grasp the functions of each part and the constraint relation between two parts in product assembly system in macroscopic view, furthermore, to design and vary the product assembly system according to requirements, the product assembly system was expressed as product function gene, product constraint gene, product function protein, product constraint protein and product cell by analyzing the similarity between biology system and product system and using biology knowledge for reference. The product chromosome model composed of product function gene groups and constraint genes was established and the design method based on it was proposed.Chapter 3, two gene variation methods based on genetic features model and principle model are proposed by analyzing the comparability between the principle of biotic genetic inheritance and variation and mechanism variation. A mechanism genetic features model was created according to the genetic expressions of components, kinematic pairs and mechanism summarized. Three rules of mechanism gene variation were summarized based on genetic features model, according to which six variation operations on the mechanism genetic features model including voluntary variation, extreme variation, interchanged variation, reversed variation, recombinant variation and hybrid variation were proposed. Influencing factors which control mechanism motion output are analyzed on the premise that motion input keeps constant. They are represented as kinematic pair chromosome number, kinematic pair feature gene and distance relationship vector gene. Mechanism genetic principles model is established, constituted by mechanism chromosome relationship graph and mechanism chromosome matrix. Three kinematic pair chromosome gene recombination operations on mechanism genetic principles model (dominance, translocation and metastasis), are proposed by using meiosis and chromosome variance in genetics for reference.Chapter 4, the couplings that have to be considered in designing the control scheme for complex electromechanical products are classified systemically into three kinds of bionics couplings including effective coupling, internal coupling and synchronous coupling by imitating the systemic control of collaborative work of organism in nature. The control methods of the three bionics couplings and their respective error models are analyzed. The error of synchronous coupling are classified according to the two situations of that the control object is actuator's trajectory or synchronous shafts' motion parameters.Chapter 5, the development background of complex diamond manufacturing special equipment is introduced. The technologies of assembly scheme chromosome modeling, motion scheme gene variation and control scheme bionics coupling of the scheme design of complex electromechanical products are applied in manipulator's modeling, feeding mechanism's variation and control system's design of complex diamond manufacturing special equipment, which proves the practical value and the research significance of assembly scheme and motion control design technologies for complex electromechanical products based on Bionics.Chapter 6, the research results of this subject were summarized, and the future research direction are expected.