论文部分内容阅读
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。
Introduce axiom design theory in the configuration of modular special robots. According to the specific requirements of the functional requirements analysis, the use of “” shape mapping, to create the relationship between design parameters and functional requirements of the model to find the functional requirements of each layer corresponding to the design parameters. Then set up a design matrix, planning and design order. Taking into account the particularity of the robot system, the axiomatic design of the module is divided into the enabling module and the structural module. Depending on the type of module, different methods of selection are used. In the process of configuration design of structural modules, axiom design is continued to be used to further reflect the functional requirements and verify the configuration scheme by converting the design parameters into robot specific kinematic / kinetic parameters.