孙群,杨伯军,张建辉,冯雁霞.基于理想解-冲突法六足机器人的创新设计[J].包装工程,2017,38(5):23-29.
SUN Qun,YANG Bo-jun,ZHANG Jian-hui,FENG Yan-xia.Innovative Design of the Hexapod Robot Based on the Ideal Solution-conflict Method[J].Packaging Engineering,2017,38(5):23-29. |
| 基于理想解-冲突法六足机器人的创新设计 |
| Innovative Design of the Hexapod Robot Based on the Ideal Solution-conflict Method |
| 投稿时间：2016-12-10 修订日期：2017-03-10 |
| DOI： |
| 中文关键词: 创新设计 理想解-冲突法 冲突解决原理 六足仿生机器人 |
| 英文关键词: innovative design ideal solution–conflict method conflict resolution principle hexapod bionic robot |
| 基金项目:国家创新方法工作专项（2015IM040200）；河北省自然科学基金（E2014202277）；天津市科技发展战略研究计划（14ZLZLZLF00038） |
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| 中文摘要: |
| 目的 在保持产品原有优点的同时，进一步改善其功能集成度和适应性等要求，方法 提出一种基于理想解-冲突法的产品创新设计策略，首先对产品系统进行全面分析，并且确定出系统的理想解，将理想解与当前产品系统进行比较，找出当前产品系统存在的问题，进而分析并确定产品系统存在的冲突，然后应用冲突解决原理解决，结果 最终确定了产品系统进一步的改进方案。结论 通过该策略对六足仿生机器人的前肢进行了创新设计，显著提高了机器人的工作效率和环境适应性，并应用运动学仿真软件对改进的六足机器人进行了行走和排爆仿真，仿真结果表明该机器人具有良好的移动性能和执行性能，从而验证了所提创新设计策略的可行性。 |
| 英文摘要: |
| The work aims to further improve such requirements as functional integration and adaptability of the product while maintaining its existing advantages. An innovative design strategy based on ideal solution-conflict method was proposed. The strategy started with the comprehensive analysis of the product system, and then determined the ideal solution to the system. By comparing the ideal solution with current product system, the problems that existed in the system were found out, then the conflicts existing in the system were analyzed, determined and then solved with the conflict resolution principle. Finally, the product system plan for further improvement was determined. The strategy is applied in the innovative design of fore limb structure of hexapod bionic robots, which significantly improves their work efficiency and environmental adaptability. The simulation on walking and explosive handling of the improved hexapod robot is carried out with the kinematics simulation software. The simulation results show that the robot has good mobility performance and execution performance, through which the feasibility of the proposed innovative design strategy can be verified. |
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