CN113283023B - General parameterized configuration design method for spacecraft equipment mounting bracket - Google Patents
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- 238000013461 design Methods 0.000 title claims abstract description 65
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- 239000013585 weight reducing agent Substances 0.000 claims abstract description 8
- 230000008859 change Effects 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims description 60
- 230000003014 reinforcing effect Effects 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 4
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Abstract
A general parameterized configuration design method for a spacecraft equipment mounting bracket comprises the following steps: step S1, decomposing functional components of the spacecraft equipment mounting bracket according to the function of the spacecraft equipment mounting bracket; step S2, setting a basic configuration of the spacecraft equipment mounting bracket, determining key geometric features of the basic configuration, extracting dimension parameters of the key geometric features, and obtaining a parameterized configuration of the spacecraft equipment mounting bracket; and S3, with the aim of weight reduction, automatically adjusting the dimension parameters to drive the parameterized configuration change of the spacecraft equipment mounting bracket, and obtaining the lightweight configuration of the spacecraft equipment mounting bracket. The method solves the problems of high difficulty in configuration design, complex design process, large workload of geometric model modification, non-visual optimization of design results and the like.
Description
Technical Field
The invention relates to a method for designing a stent product configuration.
Background
The spacecraft equipment mounting bracket provides a proper mounting interface for the spacecraft equipment and ensures structural members for realizing functions of the spacecraft equipment. The types and the number of the brackets on the spacecraft are large, and the universality is poor, so that the new research requirements of the brackets are strong. In addition, the bracket is mostly made of metal materials such as aluminum alloy or magnesium alloy, the total weight is large, and the bracket design generally requires weight reduction optimization.
Stent configuration design is one of the important ways to reduce weight. Currently, the configuration design of a spacecraft equipment support generally adopts the following two design ideas: (1) Based on the experience design, inheriting the existing configuration scheme and adaptively modifying the configuration scheme according to the requirement, the bracket configuration designs described in a patent of a lightweight 10N bracket (CN201420198648. X), a patent of an integrated star sensor bracket (CN 201820888051.6), a patent of an integrally mounted star sensor bracket (CN 201220617104.3), a bracket of a remote monitoring camera of an on-board moving part (CN 201420077249.8) and a novel momentum wheel mounting bracket (CN 201420261795.7) belong to the same category; (2) Based on the design of structural optimization, the novel design of the bracket configuration is carried out by applying a topology optimization technology, a shape optimization technology or a size optimization technology, and the bracket designs described in patent 'an integrated truss type earth sensor bracket' (CN 201721839887.9) and patent 'a frame supported type high-capacity helium bottle bracket' (CN 201621070542.7) belong to the same category.
From the perspective of reducing design efficiency, both design considerations have shortcomings. For the former, the inherited configuration scheme is not necessarily suitable for the use condition of a new bracket, and for the situation that part of the configuration has adjustment requirements, the characteristic size is adjusted according to experience, and whether the adjustment quantity is effective for improving the design index or not is judged through mechanical analysis, so that the weight-reducing optimizing process is low-efficiency; for the latter, although the foregoing structural optimization methods have proven to be effective in terms of lightweight optimization of the structure, these methods suffer from the limitations of the finite element model itself, and the problems that the types of design variables are limited, the modeling of the optimization model is complex, the optimization result cannot truly represent the actual geometrical feature state, the optimization process is complicated, and the like are still not negligible.
In addition, the focus of the implementation of the two design ideas is geometrical characteristics, any modification operation related to the geometrical characteristics often needs to reconstruct a geometrical model and carry out further optimization iteration or mechanical analysis work on the basis, and the whole link has complicated steps and large workload.
In summary, the existing spacecraft equipment mounting bracket design flow cannot efficiently and conveniently perform the new bracket configuration weight-reduction design. To meet the large number and light design requirements of current spacecraft supports, a general, efficient and geometrically parametrically driven spacecraft equipment mounting support design method is urgently needed.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the design requirement of the spacecraft equipment mounting bracket in an integrated configuration form made of metal materials, the defects of the prior art are overcome, a general parameterized configuration design method of the spacecraft equipment mounting bracket is provided, the general spacecraft equipment mounting bracket and a group of key features (parameters) affecting the configuration form are provided, and the problems of high configuration design difficulty, complex design process, large geometric model modification workload, non-visual optimization design result and the like are solved. The invention further solves the technical problem of providing a parameterized geometric model, which realizes the weight-reducing optimization design of the bracket through automatic optimization of a computer program.
The technical scheme adopted by the invention is as follows: the parameterized configuration design method for the general spacecraft equipment mounting bracket comprises the following steps:
step S1, decomposing functional components of the spacecraft equipment mounting bracket according to the function of the spacecraft equipment mounting bracket;
Step S2, setting a basic configuration of the spacecraft equipment mounting bracket, determining key geometric features of the basic configuration, extracting dimension parameters of the key geometric features, and obtaining a parameterized configuration of the spacecraft equipment mounting bracket;
And S3, with the aim of weight reduction, automatically adjusting the dimension parameters to drive the parameterized configuration change of the spacecraft equipment mounting bracket, and obtaining the lightweight configuration of the spacecraft equipment mounting bracket.
In step S1, according to the functions of the bracket, dividing the spacecraft equipment mounting bracket into an equipment mounting module, a bracket mounting module and a supporting module; the device installation module is used for connecting the device with the installation bracket; the bracket mounting module is used for connecting the spacecraft equipment mounting bracket with the spacecraft main structure; the support module is used for connecting the equipment installation module and the bracket installation module;
the specific steps of step S2 are as follows:
Designing a parameterized configuration of the equipment installation module:
1) Setting a basic configuration of the equipment installation module; the basic configuration of the equipment installation module is a polygonal frame structure with an opening at the center or at the side, and the opening is rectangular or circular;
2) Determining geometric characteristics affecting the mechanical property and quality of the equipment installation module as key geometric characteristics, wherein the key geometric characteristics comprise the thickness of an installation surface, the polygonal side length of the installation surface, the rectangular opening fillet of the installation surface and the circular opening radius of the installation surface;
3) And 2) extracting the size of the key geometric feature in the step 2) as an optimal design parameter of the basic configuration of the equipment installation module to obtain the parameterized configuration of the equipment installation module.
Designing a parameterized configuration of the support module:
1) Setting a basic configuration of the support module; the basic configuration of the supporting module is a frame structure with a polygonal cross section and a hollow cross section, the side wall of the supporting module is designed into a structure with a plurality of triangular openings, the vertexes of the triangular openings are arranged as fillets, and the frames between adjacent triangular openings are used as a reinforcing structure of the side wall;
2) Determining geometric characteristics affecting mechanical properties and quality of the module as key geometric characteristics, wherein the key geometric characteristics comprise sidewall thickness, included angles between the reinforcing structure and surrounding frames, width of the reinforcing structure and width of the surrounding frames;
3) And 2) extracting the size of the key geometric feature in the step 2) as an optimal design parameter of the basic configuration of the support module to obtain the parameterized configuration of the support module.
Designing a parameterized configuration of a bracket mounting module:
1) Setting a basic configuration of a bracket mounting module; the basic configuration of the bracket mounting module is a plurality of mounting angle boxes with reinforcing ribs, and the mounting angle boxes are arranged at the bottom of the supporting module;
2) Determining geometric characteristics affecting the mechanical property and quality of the module as key geometric characteristics, wherein the key geometric characteristics comprise the thickness of the bottom surface of the installation angle box, the thickness of the reinforcing ribs at two sides and the angle of the reinforcing ribs;
3) And 2) extracting the size of the key geometric feature in the step 2) as an optimal design parameter of the bracket mounting module to obtain a parameterized configuration of the bracket mounting module.
And S3, carrying out parameter optimization according to constraint conditions by taking the weight of the spacecraft equipment mounting bracket as a target, and obtaining a lightweight configuration of the spacecraft equipment mounting bracket.
The constraint is that either or both of the following conditions are satisfied:
A. The strength of the spacecraft equipment mounting bracket is not higher than the yield strength of the spacecraft equipment mounting bracket material;
B. The rigidity of the spacecraft equipment mounting bracket and equipment combination is not lower than 140Hz.
Compared with the prior art, the invention has the advantages that:
(1) The method reduces the difficulty of configuration design, provides a general parameter-driven configuration basic scheme on the basis of inheriting the prior bracket configuration design experience, can complete weight reduction optimization by manually or automatically adjusting parameter values according to an optimizing strategy, and greatly reduces the difficulty of bracket configuration design and the degree of dependence on engineering experience of a designer;
(2) The method has strong universality, has good operability and universality, and is particularly suitable for the design of the spacecraft equipment mounting bracket in an integrated configuration form of a metal material;
(3) The method has high modeling efficiency, the structural characteristics of the bracket created by the method are directly related to parameters, the required geometric model can be quickly obtained by modifying the parameter values, the requirements of product serialization and quick modeling are met, and the product design progress is accelerated;
(4) The modeling process of the method is easy to standardize, the method solidifies the modeling flow of the bracket, unifies the modeling steps, and is easy to form standardized operation; in particular to a general parameterized basic configuration design method, which can realize configuration optimization through parameter adjustment and is widely applicable to the design of the installation bracket of spacecraft equipment in an integrated configuration form by adopting metal materials,
(5) The method has good model normalization, and the method conforms to the structural design rule and modeling normalization of the spacecraft, so that the design scheme of the bracket is guaranteed to have good normalization.
Drawings
FIG. 1 is a diagram of a parameterized configuration design method for a spacecraft equipment mounting support of the present invention;
FIG. 2 is a flow chart of a parameterized configuration design implementation of a spacecraft equipment mounting support of the present invention;
FIG. 3 (a) is a schematic view of a typical spacecraft equipment mounting support infrastructure;
FIG. 3 (b) is a schematic view of a configuration of a weight-loss optimized spacecraft equipment installation support constructed in accordance with the present invention;
FIG. 4 is a schematic illustration of an assembled combination of a typical spacecraft equipment mounting support and equipment;
FIG. 5 is a view of a typical spacecraft equipment mounting support from various directions;
FIG. 6 (a) is a schematic diagram of the device installation module features and parameters;
FIG. 6 (b) is a schematic view of the device mounting module features and parameters with circular openings;
FIG. 7 (a) is a schematic diagram of the features and parameters of a rack-mount module;
FIG. 7 (b) is a schematic view of the features and parameters of a bracket mounting module without reinforcing ribs;
FIGS. 8 (a) - (e) are schematic diagrams of support module features and parameters;
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The parameterized configuration design method for the general spacecraft equipment mounting bracket comprises the following steps:
step S1, decomposing functional components of the spacecraft equipment mounting bracket according to the function of the spacecraft equipment mounting bracket;
Step S2, setting a basic configuration of the spacecraft equipment mounting bracket, determining key geometric features of the basic configuration, extracting dimension parameters of the key geometric features, and obtaining a parameterized configuration of the spacecraft equipment mounting bracket;
And S3, with the aim of weight reduction, automatically adjusting the dimension parameters to drive the parameterized configuration change of the spacecraft equipment mounting bracket, and obtaining the lightweight configuration of the spacecraft equipment mounting bracket.
In step S1, according to the functions of the bracket, dividing the spacecraft equipment mounting bracket into an equipment mounting module, a bracket mounting module and a supporting module; the device installation module is used for connecting the device with the installation bracket; the bracket mounting module is used for connecting the spacecraft equipment mounting bracket with the spacecraft main structure; the support module is used for connecting the equipment installation module and the bracket installation module;
the specific steps of step S2 are as follows:
Designing a parameterized configuration of the equipment installation module:
1) Setting a basic configuration of the equipment installation module; the basic configuration of the equipment installation module is a polygonal frame structure with an opening at the center or at the side, and the opening is rectangular or circular;
2) Determining geometric characteristics affecting the mechanical property and quality of the equipment installation module as key geometric characteristics, wherein the key geometric characteristics comprise the thickness of an installation surface, the polygonal side length of the installation surface, the rectangular opening fillet of the installation surface and the circular opening radius of the installation surface;
3) And 2) extracting the size of the key geometric feature in the step 2) as an optimal design parameter of the basic configuration of the equipment installation module to obtain the parameterized configuration of the equipment installation module.
Designing a parameterized configuration of the support module:
1) Setting a basic configuration of the support module; the basic configuration of the supporting module is a frame structure with a polygonal cross section and a hollow cross section, the side wall of the supporting module is designed into a structure with a plurality of triangular openings, the vertexes of the triangular openings are arranged as fillets, and the frames between adjacent triangular openings are used as a reinforcing structure of the side wall;
2) Determining geometric characteristics affecting mechanical properties and quality of the module as key geometric characteristics, wherein the key geometric characteristics comprise sidewall thickness, included angles between the reinforcing structure and surrounding frames, width of the reinforcing structure and width of the surrounding frames;
3) And 2) extracting the size of the key geometric feature in the step 2) as an optimal design parameter of the basic configuration of the support module to obtain the parameterized configuration of the support module.
Designing a parameterized configuration of a bracket mounting module:
1) Setting a basic configuration of a bracket mounting module; the basic configuration of the bracket mounting module is a plurality of mounting angle boxes with reinforcing ribs, and the mounting angle boxes are arranged at the bottom of the supporting module;
2) Determining geometric characteristics affecting the mechanical property and quality of the module as key geometric characteristics, wherein the key geometric characteristics comprise the thickness of the bottom surface of the installation angle box, the thickness of the reinforcing ribs at two sides and the angle of the reinforcing ribs;
3) And 2) extracting the size of the key geometric feature in the step 2) as an optimal design parameter of the bracket mounting module to obtain a parameterized configuration of the bracket mounting module.
And S3, carrying out parameter optimization according to constraint conditions by taking the weight of the spacecraft equipment mounting bracket as a target, and obtaining a lightweight configuration of the spacecraft equipment mounting bracket.
The constraint is that either or both of the following conditions are satisfied:
A. The strength of the spacecraft equipment mounting bracket is not higher than the yield strength of the spacecraft equipment mounting bracket material;
B. The rigidity of the spacecraft equipment mounting bracket and equipment combination is not lower than 140Hz.
Examples
(1) The general parameterized configuration design implementation flow of the spacecraft equipment mounting bracket based on the invention is shown in fig. 2, and mainly comprises 5 steps of bracket design constraint determination, bracket function module division, equipment mounting module parameterized configuration design, bracket mounting module parameterized configuration design and support module parameterized configuration design, as shown in fig. 1.
(2) A typical spacecraft installation support base configuration designed according to the invention is shown in fig. 3 (a) and 3 (b), and the assembled support and equipment combination is shown in fig. 4.
(3) Fig. 5 shows a schematic illustration of the geometric characteristics of the spacecraft installation support in various directions. Wherein the F surface is an equipment installation surface (equipment installation module); the H surface is a bracket mounting surface (bracket mounting module); the surface A is the left side of the bracket, the surface B is the right side of the bracket, the surface C is the front of the bracket, the surface D is the back of the bracket, the surface E is the back of the equipment installation, the surface G is the top of the equipment installation, and the surfaces A, B, C, D, E and G form the support features (support modules). In order to simplify the design and the process, the A surface and the B surface and the C surface and the D surface adopt the consistent design thought. The M-, N-, and P-views give elevation views of the E-, device-, and bracket-mounting features, respectively.
(4) And determining the geometric constraint of the bracket design. Factors that need to be explicit include: device mounting angle, device mounting hole size, device mounting surface footprint, bracket mounting surface size, etc.
(5) The support function module is divided, and the support structure is divided into an equipment installation module, a support installation module and a support module according to the function constitution.
(6) And (5) designing an equipment installation module. Setting a basic configuration of the equipment installation module according to equipment installation requirements as shown in fig. 6 (a), wherein design parameters comprise equipment installation surface thickness ST1; device mounting surface rectangular length SL1, device mounting surface rectangular width SL2; device mounting surface rectangular opening length SL3, device mounting surface rectangular opening width SL4; rectangular opening fillet SR1 of equipment mounting surface. As SR1 increases, the mounting surface opening pattern will be converted to the pattern shown in fig. 6 (b). In particular, when the quadrangular opening is square, the opening shown in fig. 6 (b) is circular.
(7) And (5) mounting a module design by a bracket. The basic configuration of the support mounting module is set to be a plurality of mounting angle boxes with reinforcing ribs, 4 mounting angle boxes are preliminarily designed, and as shown in fig. 7 (a), design parameters comprise the number n of the mounting angle boxes, the thickness ZT1 of the mounting angle boxes, the thickness ZT2 of the reinforcing ribs and the angle Z alpha of the reinforcing ribs. When the reinforcing rib angle zα is zero, the reinforcing rib is degraded from fig. 7 (a) to a form of fig. 7 (b) without reinforcing ribs.
(8) And (5) supporting the module design. Setting the basic configuration of the support module as a polygonal structure with a large opening, and preliminarily designing 5 triangular combination features according to the appearance characteristics of the support features (the A face/B face shown in fig. 5 is hexagonal), wherein design parameters comprise the support thickness (CT 1); support fillets 1 (CR 1), 2 (CR 2) and 3 (CR 3); support boundary angle α (cα), support boundary angle β (cβ); support rib width 1 (CL 1), support rib width 2 (CL 2), support rib width 3 (CL 3), support rib width 4 (CL 4); support boundary width 5 (CL 5), support boundary width 6 (CL 6), support boundary width 7 (CL 7), support boundary width 8 (CL 8), support boundary width 9 (CL 9), support boundary width 10 (CL 10). When CL1 and CL3 are zero, the configuration of fig. 8 (a) is changed to fig. 8 (b); when CL2 and CL4 are zero, the configuration of fig. 8 (a) will change to fig. 8 (c); when CL1, CL2, CL3, CL4 are zero, the configuration of fig. 8 (a) is changed to fig. 8 (d). For a quadrilateral opening with rounded corners, the configuration shown in fig. 8 (e) can be obtained when the rounded corner dimension CR3 of fig. 8 (d) is increased, and when the quadrilateral is square, the opening shown in fig. 8 (e) is circular.
(9) In the optimization design software, parameters (summarized as shown in table 9) in the steps (6), (7) and (8) are used as design variables to drive the configuration change of the bracket, the bracket weight is used as a target, the bracket strength is not higher than the yield strength of the spacecraft equipment mounting bracket material and/or the rigidity of the bracket and equipment combination is not lower than 140Hz, and a typical weight-reduction optimization bracket configuration is obtained as shown in fig. 3 (b).
Table 1 is a summary chart of key configuration parameters of the stent
| Parameters (parameters) | Parameter meaning | Parameters (parameters) | Parameter meaning | Parameters (parameters) | Parameter meaning |
| ST1 | Thickness of equipment mounting face | Zα | Angle of reinforcing rib | CL3 | Support stiffener width 3 |
| SL1 | Rectangular length of equipment mounting surface | CT1 | Thickness of support | CL4 | Support stiffener width 4 |
| SL2 | Rectangular width with equipment mounted | CR1 | Support fillet 1 | CL5 | Support boundary width 5 |
| SL3 | Rectangular opening length of equipment mounting surface | CR2 | Support fillet 2 | CL6 | Support boundary width 6 |
| SL4 | Rectangular opening width of equipment mounting surface | CR3 | Support fillet 3 | CL7 | Support boundary width 7 |
| SR1 | Rectangular opening fillet for equipment mounting surface | Cα | Support boundary angle alpha | CL8 | Support boundary width 8 |
| n | Number of corner boxes | Cβ | Support boundary angle beta | CL9 | Support boundary width 9 |
| ZT1 | Mounting corner box thickness | CL1 | Support stiffener width 1 | CL10 | Support boundary width 10 |
| ZT2 | Thickness of reinforcing rib | CL2 | Support stiffener width 2 | —— | —— |
The invention, in part not described in detail, is within the skill of those skilled in the art.
Claims (1)
1. The parameterized configuration design method for the universal spacecraft equipment mounting bracket is characterized by comprising the following steps of:
step S1, decomposing functional components of the spacecraft equipment mounting bracket according to the function of the spacecraft equipment mounting bracket;
Step S2, setting a basic configuration of the spacecraft equipment mounting bracket, determining key geometric features of the basic configuration, extracting dimension parameters of the key geometric features, and obtaining a parameterized configuration of the spacecraft equipment mounting bracket;
Step S3, taking weight reduction as a target, automatically adjusting the dimension parameters to drive the parameterized configuration change of the spacecraft equipment mounting bracket, and obtaining the lightweight configuration of the spacecraft equipment mounting bracket;
in step S1, according to the functions of the bracket, dividing the spacecraft equipment mounting bracket into an equipment mounting module, a bracket mounting module and a supporting module; the device installation module is used for connecting the device with the installation bracket; the bracket mounting module is used for connecting the spacecraft equipment mounting bracket with the spacecraft main structure; the support module is used for connecting the equipment installation module and the bracket installation module;
In step S2, setting a basic configuration of the spacecraft equipment mounting support includes designing an equipment mounting module parameterized configuration, designing a support module parameterized configuration, and designing a support module parameterized configuration;
the method for designing the parameterized configuration of the equipment installation module is as follows:
1.1 Setting a basic configuration of the equipment installation module; the basic configuration of the equipment installation module is a polygonal frame structure with an opening at the center or at the side, and the opening is rectangular or circular;
1.2 Determining geometric characteristics affecting the mechanical property and quality of the equipment installation module as key geometric characteristics, wherein the key geometric characteristics comprise the thickness of an installation surface, the polygonal side length of the installation surface, the rectangular opening fillet of the installation surface and the circular opening radius of the installation surface;
1.3 Extracting the size of the key geometric feature in the step 1.2) as an optimal design parameter of the basic configuration of the equipment installation module to obtain a parameterized configuration of the equipment installation module;
the method for designing the parameterized configuration of the support module is as follows:
2.1 Setting a base configuration of the support module; the basic configuration of the supporting module is a frame structure with a polygonal cross section and a hollow cross section, the side wall of the supporting module is designed into a structure with a plurality of triangular openings, the vertexes of the triangular openings are arranged as fillets, and the frames between adjacent triangular openings are used as a reinforcing structure of the side wall;
2.2 The geometric characteristics affecting the mechanical property and quality of the module are determined as key geometric characteristics, including the thickness of the side wall, the included angle between the reinforcing structure and the peripheral frame, the width of the reinforcing structure and the width of the peripheral frame;
2.3 Extracting the size of the key geometric feature in the step 2.2) as an optimal design parameter of the basic configuration of the support module to obtain a parameterized configuration of the support module;
The method for designing the parameterized configuration of the bracket mounting module comprises the following steps:
3.1 Setting a base configuration of the rack-mount module; the basic configuration of the bracket mounting module is a plurality of mounting angle boxes with reinforcing ribs, and the mounting angle boxes are arranged at the bottom of the supporting module;
3.2 Determining geometric characteristics affecting the mechanical property and quality of the module as key geometric characteristics, including the thickness of the bottom surface of the installation angle box, the thickness of the reinforcing ribs at two sides and the angle of the reinforcing ribs;
3.3 Extracting the size of the key geometric feature in the step 3.2) as an optimal design parameter of the bracket mounting module to obtain a parameterized configuration of the bracket mounting module;
In step S3, taking the weight of the spacecraft equipment mounting bracket as a target, and carrying out parameter optimization according to constraint conditions to obtain a lightweight configuration of the spacecraft equipment mounting bracket;
the constraint is that either or both of the following conditions are satisfied:
A. The strength of the spacecraft equipment mounting bracket is not higher than the yield strength of the spacecraft equipment mounting bracket material;
B. The rigidity of the spacecraft equipment mounting bracket and equipment combination is not lower than 140Hz.
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| CN104376152A (en) * | 2014-10-31 | 2015-02-25 | 北京宇航系统工程研究所 | Parametric modeling and labeling method |
| JP2020528301A (en) * | 2017-07-17 | 2020-09-24 | インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ | Individualized coronary stent |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104376152A (en) * | 2014-10-31 | 2015-02-25 | 北京宇航系统工程研究所 | Parametric modeling and labeling method |
| JP2020528301A (en) * | 2017-07-17 | 2020-09-24 | インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ | Individualized coronary stent |
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