Design method to modular robot system

摘要

Based on summarizing and analysing of existing design methods to modular robots, a bottom-up modular design method to robots has been put forward: through the functional decomposition and function structure analysis for non-modular robots with similar structures, get the sharing modules and personal modules, so make the system design of modular robot come true. During the process of functional decomposition of robot system with high degree of integration, the concept of fixed-functional base set has been proposed which simplify the analysis process and improve the design efficiency. This method has been applied to special robots. Choose three types of representative special robot: scout robot, explosives disposal robot, fire-fighting robot to carry out functional decomposition, then identify the generic modules and personal modules by three heuristic methods. These provide theoretical basis and support for the modular robot system design.