Research On The Method Of Hydraulic Quadruped Robot Based On The Coupling Of QFD And DSM

The foot robot has the characteristics of flexible movement,anti kicking,anti inertial force,discrete landing points and so on.So that it can complete the tasks that the conventional wheeled and crawler robots can't.It has high adaptability to unstructured terrain.With the extreme terrain of emergency relief,extreme operations,goods transportation and other fields of application demand is increasingly obvious.As a typical representative,quadruped robot has gradually exposed many problems.For example,in the unstructured operating environment,for different environmental requirements.In the aspect of robot design,there are many problems,such as the confusion of demand coupling and ordering,the fuzzy design method of robot,and the conflict and interference of assembly components.This also poses a greater challenge to the optimization of the robot performance.Therefore,the research on the design method of the hydraulic quadruped robot is of great significance to the scientific design of its structure.At the same time,it can provide theoretical and technical support for the whole design process.In this paper,QFD is coupled with DSM.The related design methods of hydraulic quadruped robot are studied.The main research contents are as follows:(1)Research on the subjective resolution and discrete clustering of demand sequencing.This paper aims at the problem of demand sequencing of hydraulic quadruped robot in the unstructured field environment.Based on the fuzzy membership model,the fuzzy demand soft set is constructed to eliminate the fuzziness and uncertainty in information transmission.The quantitative information is transformed into the qualitative concept by the reverse membership cloud generator.Based on the evaluation method of super entropy operator,the demands are divided according to the relationship between relatives and relatives.Ensure their mutual independence and reduce the degree of clustering dispersion;(2)The reasonable selection of leg joint configuration of hydraulic quadruped robot.Aiming at the uncertainty and discreteness of leg selection.Based on the LOWA operator,the relative language variables of robot leg evaluation are transformed into absolute language variables.The comprehensive index evaluation method is used to determine the robot configuration scheme.It provides a new idea for robot configuration and selection;(3)Assembly process modeling of leg components of hydraulic quadruped robot.In the process of robot leg component assembly,there are some problems such as too large cluster module particles and interference between components.The information dependence between components is expressed quantitatively by coupling the analysis network modeling with the fuzzy design structure matrix.Based on the cut set threshold and utility theory,the complex components are clustered and partitioned to optimize the execution sequence of leg component assembly.Improve the core competitiveness of robots;(4)Scientific design of hydraulic quadruped robot.Aiming at the limitation and dependence of simulation data analysis in robot design.The design method of function principle behavior structure is proposed to realize the iteration of design level.It meets the systematic design of the whole robot and the design requirements from top to bottom,which further improves the performance of the robot;(5)Function structure integration software verification.In this paper,the coupling method of QFD and DSM is used to study the design method of hydraulic quadruped robot.The whole process of environment analysis into robot design is integrated into the software.Make clear the internal relationship between the execution structure unit and the reliability index parameter.For specific structural parameters and specific functional factors,the function modules and corresponding structures are coordinated and matched reasonably.Finally,the design of the hydraulic quadruped robot is realized,which shows the validity and scientific of the method.