Study On Design Method For Modular Special Robot

According to increasingly difficulty in global anti-terrorism, and frequent occurrence of serious natural disasters, the special robots show more importance in executing dangerous mission, such as recusing, explosive ordnance disposal(EOD) and fire-fighting. Currently the most of special robots are designed for specific tasks. In this way, the robots have limite on versatility and extensibility. In response to a variety of emergency tasks, an adequate number of special robots should be maintained. This requires a lot of investment and to some extent results in waste of resources. Thinking about these, this paper put forward a special modular robot system based on the analysis of existing special robots. Modular approach is used in the field of special robots. Meeting the diverse needs of applications with limit modules will expand the field of special robots with appropriate cost.This paper covers the following original points:1. A bottom-up approach which makes non-modular robots become modular robot system has been put forward. The approach analyzes the architectures of four kinds of special robots with functional perspective, including attack robots, explosive ordnance disposal robots, scout robots and fire-fighting robots. Through the functional decomposition and function structure analysis for non-modular robots with similar functions, get sharing modules and personal modules, which provide guidance and base for the buliding of the module library. The IDEF0 modeling method has been used to clearly and explicitly define the activities and relations of each modular in the system from the functional point of view, so establish standardized model of modular robot architecture. This approach makes traditional robots with similar functions into modular robots, show a new way to design special modular robot.2. A configuration design method has been put forward based on Axiomatic Design theory. According to the decomposition result between FRs and DPs, the choice of models and the order of configuration design can be confirmed. The configuration program can be verified by the analysis of kinematic and dynamic parameters and the simulation by SolidWorks. The method provides a standard design flow for the modular robot configuration design. As a modular special robot configuration design method, it has a certain reference for carrying out the study of modular robots design method.3. In the process of configuration design of special robots, enable modules and structural modules have been put forward. Structural modules need further decomposition and kinematic and dynamic analysis, enable modules carrying certain functions can be choosing according to parameters. When the two kinds of modules show up, the functional decomposition stops. These make the decomposition easier and fit modular robots well. In this way, in the premise of ensureing design quality the decomposition process has been simplified, and the time for new product development reduced.4. Based on the analysis of functional characteristics and key technologies, the overall framework of the design system has been proposed. Using VC++ development environment together with SQLServer 2000 database management system, developed an application algorithm for modular special robot design system, and established a prototype system. The program runs stabile, and manages the module library effectively.