基于公理设计的模块化特种机器人配置过程研究

Research on configuration process of modular special robot based on axiomatic design

在模块化特种机器人配置过程中引入公理设计理论。针对特定设计要求进行功能需求分析,运用"之"字形映射,创建设计参数与功能需求之间的关系模型,找到每一层功能需求所对应的设计参数。而后建立设计矩阵,规划设计顺序。考虑到机器人系统的特殊性,将公理设计得到的模块分为使能模块和结构模块。根据模块类型的不同分别采用不同的选定方法。在结构模块的配置设计过程中继续应用公理设计,通过将设计参数转换为机器人特定的运动学/动力学参数,进一步体现功能需求,验证配置方案。

In the special modular robot configuration process,the axiomatic design theory has been introduced.For the functional requirement analysis in a particular design requirement,and by using the ＂zigzagging＂ mapping,the relationship model between design parameters and functional requirements has been created.Then,corresponding design parameters of each level of functional requirements can be found.After that,the design matrix can be established and the design order can be planned.According to the special structural features of the robot,design parameters obtained from axiomatic design can be divided into enable modules and structural modules,and different configuration methods are used for them.During the configuration design process of structural modules,axiomatic design has been applied again.By transforming design parameters into particular kinematic and dynamic parameters,functional requirements can be further shown and configuration candidate can be verified.