Abstract: According to the requirements of the tree barrier removal robot on power lines,the robot design scheme was achieved by combining Axiomatic Design (AD) and Polychromatic Set (PS).The function structure model of axiomatic design was established to ensure the independence of functional requirements.Then,the polychromatic set hierarchical structure model of the tree barrier removal robot was modeled based on the structure library.The functional structure constraint matrix was established through the formal description of the constraint conditions,and the feasible schemes were deduced by using the constraint matrix.The best design scheme was obtained from the feasible schemes by using the fuzzy information axiom,and experimental results verified the effectiveness and feasibility of the best design scheme by making the prototype.

Key words: tree barrier removal robots, axiomatic design, polychromatic sets, fuzzy information axiom , scheme configuration

摘要： 针对电力线路树障清除机器人的设计需求,将公理设计(AD)与多色集合(PS)相结合,实现了机器人的方案设计。首先,建立了公理设计的功能—结构模型,利用独立性公理保证了功能需求的独立性;然后基于结构库构建了树障清除机器人的多色集合层次结构模型,通过约束条件的形式化描述建立了功能结构约束矩阵,并基于约束矩阵推理出可行方案;使用模糊信息公理的评价方法,从可行方案中选择出最佳的设计方案;最后根据设计方案制作样机进行了实验,实验结果验证了设计方法的有效性和设计方案的可行性。

关键词: 树障清除机器人, 公理设计, 多色集合, 模糊信息公理, 方案配置