基于公理设计和多色集合的树障清除机器人方案设计  

Scheme design of tree barrier removal robot based on axiomatic design and polychromatic set

作　　者：杜轩[1,2,3] 李宝万 方子帆 DU Xuan;LI Baowan;FANG Zifan(Hubei Key Laboratory of Hydroelectric Machinery Design&Maintenance,China Three Gorges University,Yichang 443000,China;College of Mechanical&Power Engineering,China Three Gorges University,Yichang 443000,China;Yichang Key Laboratory of Robot and Intelligent System,Yichang 443000,China)

机构地区：[1]三峡大学水电机械设备设计与维护湖北省重点实验室,湖北宜昌443000 [2]三峡大学机械与动力学院,湖北宜昌443000 [3]机器人与智能系统宜昌市重点实验室,湖北宜昌443000

出　　处：《计算机集成制造系统》2022年第9期2782-2793,共12页Computer Integrated Manufacturing Systems

基　　金：机器人与智能系统宜昌市重点实验室基金资助项目(JXYC00004)。

摘　　要：针对电力线路树障清除机器人的设计需求,将公理设计(AD)与多色集合(PS)相结合,实现了机器人的方案设计。首先,建立了公理设计的功能—结构模型,利用独立性公理保证了功能需求的独立性;然后基于结构库构建了树障清除机器人的多色集合层次结构模型,通过约束条件的形式化描述建立了功能结构约束矩阵,并基于约束矩阵推理出可行方案;使用模糊信息公理的评价方法,从可行方案中选择出最佳的设计方案;最后根据设计方案制作样机进行了实验,实验结果验证了设计方法的有效性和设计方案的可行性。According to the requirements of the tree barrier removal robot on power lines,the robot design scheme was achieved by combining Axiomatic Design(AD)and Polychromatic Set(PS).The function structure model of axiomatic design was established to ensure the independence of functional requirements.Then,the polychromatic set hierarchical structure model of the tree barrier removal robot was modeled based on the structure library.The functional structure constraint matrix was established through the formal description of the constraint conditions,and the feasible schemes were deduced by using the constraint matrix.The best design scheme was obtained from the feasible schemes by using the fuzzy information axiom,and experimental results verified the effectiveness and feasibility of the best design scheme by making the prototype.

关 键 词：树障清除机器人 公理设计 多色集合 模糊信息公理 方案配置 

分 类 号：TH122[机械工程—机械设计及理论]