基于模糊粗糙数的变形球机器人方案配置  

Scheme Configuration of Deformable Spherical Robots Based on Fuzzy Rough Number

作　　者：房世豪 秦建军 曹钰 邵派 刘兴杰 Fang Shihao;Qin Jianjun;Cao Yu;Shao Pai;Liu Xingjie(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 100044,China;Zhongbing Intelligent Innovation Research Institute Co.,Ltd.,Beijing 100072,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京市建筑安全监测工程技术研究中心,北京100044 [3]中兵智能创新研究院有限公司,北京100072

出　　处：《机械传动》2024年第4期18-25,共8页Journal of Mechanical Transmission

基　　金：北京市属高校基本科研业务费专项资金项目(X20060);北京建筑大学研究生创新项目(PG2023141);北京市建筑安全监测工程技术研究中心研究基金项目(BJC2020K012)。

摘　　要：针对球形机器人在多需求非结构化环境下设计方案配置与选型中存在的主观性和不确定性问题,提出了模糊粗糙数与复杂比例评估(Complex Proportional Assessment,COPRAS)相耦合的方案评估方法。综合考虑方案设计时不同需求特征指标间的重要度关系,基于模糊粗糙数实现对需求特征指标的定量分析;采用COPRAS方法对所有备选设计方案进行综合评估,根据效用度指数得到所有备选设计方案的优先级排序,确定最优的配置方案,并以变形球机器人的选型为例进行了评估验证。结果表明,该方法具有较好的可靠性和实用性,为以后机器人设计方案的配置选型提供了有效参考。Aiming at the problem of subjectivity and uncertainty in the configuration and selection of spherical robot design schemes in multi-demand unstructured environments,a scheme evaluation method coupled with fuzzy rough number and complex proportional assessment(COPRAS)is proposed.Considering the importance relation between different demand characteristic indexes in scheme design,the quantitative analysis of demand characteristic indexes is realized based on the fuzzy rough number.The COPRAS method is used to comprehensively evaluate all alternative design schemes,the priority ranking of all alternative design schemes is obtained according to the utility index to determine the optimal configuration scheme,and the selection of deformed spherical robots is taken as an example for evaluation and verification.The research results show that the method has good reliability and practicability,which provides effective reference for the configuration and selection of the robot design scheme in the future.

关 键 词：球形机器人 模糊粗糙数 COPRAS方法 方案配置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]