以人为原型的机电产品概念设计自动化技术与机器人实例研究
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摘要
20世纪60年代以来，以微电子技术及信息技术为主导的高新技术革命极大推动了科学技术的发展，一大批逐步形成的高新技术以空前的规模向生产迅速转化。机电一体化正是在这场新技术革命中产生的新兴领域，并取得飞速发展。机电一体化技术的迅速发展已使机电一体化产品的个性化、柔性化、智能化成为机械产品的重要发展方向。面对世界市场日益激烈的竞争，单纯靠模仿国外产品将使企业失去市场竞争力。只有通过产品创新，才能从根本上解决企业的生(?)发展问题。
产品(?)的概念设计阶段更加注重设计的整体性、创造性，在概念设计(?)进行的设计方案的创新具有较高的创新层次。现行的方案设计主要依赖于设计者的经验，并没有从根本上形成科学的设计方法，或者在传统机械的基础上进行的改造，并没有从根本上实现机电系统的创造性设计。如何把经验设计变成遵循一定理论的科学的设计方法是进行机电系统创新设计研究的关键。
本文在这一问题上进行初步研究，以机器人这种典型的机电系统为例，以分解重构理论、生长型设计、人为原型设计理论为指导，对机电系统的设计理论和方法进行了研究，建立了相关模型库。随后将研究成果应用于机器人设计过程取得了预期的效果。下面是本文主要内容的概括：
对目前的产品概念设计及机电系统的概念设计方法做了总结，指出了机电系统概念设计中的关键问题：分析了生物生长机制与产品设计的相似之处，人为原型进行自动化设计的依据，以及分解重构理论、功能表面原理、广义定位原理在产品设计自动化中的应用；得出机电系统以人为原型的创新设计方法；建立了机电系统各个单元的模型库及知识库；随后进行了实例验证。
最后，本文对全文进行了总结，提出了课题尚待进一步深入研究的内容，并对以后的工作进行了展望。
Since the 1960s, high-tech revolution leaded by microelectronic technique and information technology promotes the development of science and technology remarkably. A great many of new kinds of high technologies were transformed into production rapidly. A new area, mechatronics technology appeared then and had a fast development. As the development of computer technology, science and technology areas utilize computers to process information more and more, scientific and technical personnel and engineers have to do their work with the help of computer automation. The individuality, flexibility and intelligence have become important development direction of mechanical products with the development of science and technology. In the face of drastic international market competitions increasingly, and great attention in intellectual property rights, enterprises will lose market competitiveness if they simply rely on copying foreign products. Only through the product creativity, can enterprises solve the problem of surviving and developing fundamentally.
As an important part of production design, conceptual design pays more attention to the integrity and creativity. In the creative design process of mechatronics system, the creation of design schemes is in a higher creative level in conceptual design. Current scheme design of mechatronics system basically depends on designer's experience and design conception. Current method has not become a scientific design method. Or designer counterfeits the old pattern, it does not form an innovative design veritably. How to turn the experience-design into scientific design method that follows a certain theory becomes a key factor in mechatronics design. Faced to the question above, this paper does some research work on design theory and design method, based on some theories such as Principle of Decomposition and Reconstitution, Growth Design and Human Originated Design, studies the design process of robot, a style mechatronics, establishes 3D model base, too.
The theoretical achievements have been applied to the scheme creative design process of developing robot and achieved anticipated results. The main contents of this paper are summarized as follows:
Give a summarization of present conceptual design of common products and mechatronics, point out the key of conceptual design of mechatronics system. Point out the comparability of biology growth and product design, the reason of Human Originated Design and the application of Principle of Decomposition and Reconstitution, Function Face, Generalized Location Principle. Give the creative design method human originated of mechatronics system. Build the model base and knowledge base of mechatronics units. Then, example validates the correctness and validity of theory research and technology implementation.
At last, the research contents are summarized, and the questions that need research in future are put forward. A prospect about the next research contents is made out.
产品(?)的概念设计阶段更加注重设计的整体性、创造性，在概念设计(?)进行的设计方案的创新具有较高的创新层次。现行的方案设计主要依赖于设计者的经验，并没有从根本上形成科学的设计方法，或者在传统机械的基础上进行的改造，并没有从根本上实现机电系统的创造性设计。如何把经验设计变成遵循一定理论的科学的设计方法是进行机电系统创新设计研究的关键。
本文在这一问题上进行初步研究，以机器人这种典型的机电系统为例，以分解重构理论、生长型设计、人为原型设计理论为指导，对机电系统的设计理论和方法进行了研究，建立了相关模型库。随后将研究成果应用于机器人设计过程取得了预期的效果。下面是本文主要内容的概括：
对目前的产品概念设计及机电系统的概念设计方法做了总结，指出了机电系统概念设计中的关键问题：分析了生物生长机制与产品设计的相似之处，人为原型进行自动化设计的依据，以及分解重构理论、功能表面原理、广义定位原理在产品设计自动化中的应用；得出机电系统以人为原型的创新设计方法；建立了机电系统各个单元的模型库及知识库；随后进行了实例验证。
最后，本文对全文进行了总结，提出了课题尚待进一步深入研究的内容，并对以后的工作进行了展望。
Since the 1960s, high-tech revolution leaded by microelectronic technique and information technology promotes the development of science and technology remarkably. A great many of new kinds of high technologies were transformed into production rapidly. A new area, mechatronics technology appeared then and had a fast development. As the development of computer technology, science and technology areas utilize computers to process information more and more, scientific and technical personnel and engineers have to do their work with the help of computer automation. The individuality, flexibility and intelligence have become important development direction of mechanical products with the development of science and technology. In the face of drastic international market competitions increasingly, and great attention in intellectual property rights, enterprises will lose market competitiveness if they simply rely on copying foreign products. Only through the product creativity, can enterprises solve the problem of surviving and developing fundamentally.
As an important part of production design, conceptual design pays more attention to the integrity and creativity. In the creative design process of mechatronics system, the creation of design schemes is in a higher creative level in conceptual design. Current scheme design of mechatronics system basically depends on designer's experience and design conception. Current method has not become a scientific design method. Or designer counterfeits the old pattern, it does not form an innovative design veritably. How to turn the experience-design into scientific design method that follows a certain theory becomes a key factor in mechatronics design. Faced to the question above, this paper does some research work on design theory and design method, based on some theories such as Principle of Decomposition and Reconstitution, Growth Design and Human Originated Design, studies the design process of robot, a style mechatronics, establishes 3D model base, too.
The theoretical achievements have been applied to the scheme creative design process of developing robot and achieved anticipated results. The main contents of this paper are summarized as follows:
Give a summarization of present conceptual design of common products and mechatronics, point out the key of conceptual design of mechatronics system. Point out the comparability of biology growth and product design, the reason of Human Originated Design and the application of Principle of Decomposition and Reconstitution, Function Face, Generalized Location Principle. Give the creative design method human originated of mechatronics system. Build the model base and knowledge base of mechatronics units. Then, example validates the correctness and validity of theory research and technology implementation.
At last, the research contents are summarized, and the questions that need research in future are put forward. A prospect about the next research contents is made out.
引文
1 芮延年．机电一体化原理及应用．2004．苏州：苏州大学出版社，2004
2 谢里阳．现代机械设计方法．2005．北京：机械工业出版社，2005
3 邹慧君主编．机械设计原理．上海：上海交通大学出版社，1995
4 RAP M et al. Integrated Distributed Intelligent Systems in Manufacturing [M]. London: Chapman&Hall. 1992
5 Pahl G, Beitz W. Engineering Design. London: The Design Council, 1984
6 Koller R. Konstruktionslehre Fur Den Maschinenbau. Springer Verlag, 1985
7 邹慧君，汪利，王石刚等．机械产品概念设计及其方法综述．机械设计与研究．1998，No．2：9～14
8 谢进，陈永．概念设计及功能“粒化”问题．机械设计，1998，15(3)：45～46
9 Sturges R. H., O' Shaughnessy K., KilaniM. J. Computational Model foe Conceptual Design based in Extended Function Log-ic. AIEDAM, 1996, 10(4): 255～274
10 Qian L., Gero J. S. Function-behavior-structure Paths and their Role in Analogy-based Design[J]. Artificial Intelligence for Engineering Design, Analysis and Manufacture, 1996, 10(4): 289～312
11 Umeda Y., et al. Supporting Conceptual Design Based on the Function-behavior-state Modeler[J]. Artificial Intelligence for Engineering Design, Analysis and Manufacturing, 1996, 10(4): 275～288
12 Adzhiev V., Beynon M., etc. A New Computer-Based Tool for Conceptual Design. Proceedings of the 1994 Lancaster international Work shop on Engineering Design CACD'94: Conceptual Design, Lancaster, 1994: 171～188
13 Li C. L., Tan S. T., Chen K. W. A Qualitative and Heuristic Approach to the Conceptual Design of Mechanisms. Engineering Application of Artificial Intelligence, 1996, 9(1): 17～31
14 吴正洪，邹慧君．机械设计中机构选型初探．机械设计与研究1989，(4)
15 邹慧君，顾明敏．机械系统方案设计专家系统初探(一)——知识库管理系统的建立．机械设计，1996，(5)：26～28
16 邹慧君，顾明敏．机械系统方案设计专家系统初探(二)——推理系统的建立和应用．机械设计，1996，(6)：12～14
17 孔凡国，邹慧君．基于实例的机构创新设计理论于方法的研究．机构与电子，1996，(2)：17～19
18 邹慧君主编．机械运动方案设计手册．上海：上海交通大学出版社，1994
19 邹慧君主编．机械及其系统设计，现代机械设备设计手册．第8篇．北京：机械工业出版社，1996
20 邹慧君编著．机构系统设计．上海：科学技术出版社，1996
21 毛权，肖人彬，周济．CBR中基于实例特征的相似实例检索模型研究．计算机研究发展，1997，34(4)：257～263
22 潘云鹤，耿卫东，童欣．面向智能CAD的分层构造自动型方法．软件学报，1996，7(5)：280～285
23 Feng P., Xu G., Zhang M. Feature modeling Based in Design Catalogues for Principle Conceptual Design. AIEDAM, 1996, 10(4): 347～354
24 王小同，范立础．智能设计系统的IDS模型．模式识别与人工智能，1996，9(2)：112～118
25 Rolf Isermann. Modeling and Design methodology for Meehatronic system IEEE/ASME, Transactions on mechatronics, vol. 1, No. 1, March, 1996: 16～28
26 Isermann, Rolf. Information processing for mechatronic systems. Robotics and Autonomous Systems Volume: 19, Issue: 2, December, 1996: 117～134
27 冯培恩，徐国荣．基于设计目录的原理方案及其求解过程的特征建模．机械工程学报，1998，34(2)：79～86
28 沈敏德，冯培恩，宋烨．基于力学效应的机械传动原理设计知识库的结构研究．工程设计，1999(2)：11～16
29 冯培恩，陈泳，张帅等．基于产品基因的概念设计．机械工程学 报，2002，38(10)：1～6
30 张建明，魏小鹏，张德珍．产品概念设计的研究现状及其发展方向．计算机集成制造系统—CIMS，2003，9(8)：613～620
31 Kurumatani K, Tomiyama T, Yoshikawa H. Qualitative representation of machine behaviors for intelligent CAD systems. Mechanical Machine Theory, 1990, (25): 325～334
32 Shu, Huang Sun and Jahau, Lewis Chen. A Fixture Design System using Case-based Reasoning. Engineering Applications of Artificial Intelligence, 1996, 9(5): 533～540
33 Anthony G O Yeh, Xun Shi. Case-based reasoning (CBR) in development control. International Journal of Applied Earth Observation and Geoinformation, 2001, 3(3): 238～251
34 Grierson, D E, Conceptual design using evolutive-cognitive techniques. Computing in Civil Engineering, 1994, 2: 2183～2190
35 Tong C, Gomory A. A knowledge-based computer environment for the conceptual design of small electromechanieal appliances. Computer, 1993, 26: 69～71
36 Rao, A V, Prakasa N S. BEAS: expert system for the preliminary design of bearings. Advances in Engineering Software, 1992, 14, 163～166
37 Honda K, et al. Constraint-based approach for automatic spatial layout planning. In: Proceedings of the IEEE International Conference on Robotics and Automation, 1992. 38～45
38 Flemming U, et al. Hierarchical Generate-and-test via constraint-directed research. In: AI in Engineering Design. Boston: Academic Press, 1992. 817～838
39 胡炳生，冯元均，陈玉玺等．现代科学技术基础．南京：南京大学出版社，2001
40 王艳东．以人为原型的设计自动化理论与技术研究：[博士学位论文]．济南：山东大学，2006，4：20～21
41 黄克正．复杂表面成形加工系统设计智能化理论与应用研究．山东工业 大学博士论文，1993，8：166～167
42 Huang Kezheng, Ai Xing, Zhang Chengrui. Decomposition & Reconstitute Principle for Complex Surface and its Application. Science in China (Series E),1997, 40(1): 89～96
43 曹树坤，黄克正．基于广义定位模式的实例推理[J]．机械科学与技术．2003，22(6)：879～881
44 杨志宏，黄克正．夹具原型概念模型的创建方法研究[J]．机械科学与技术．2003，22(6)：1043～1045
45 徐志刚．基于广义映射原理的组合夹具结构设计自动化．工程设计．2000，(1)
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48 徐元昌．机电系统设计．北京：化学工业出版社，2005
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50 赵松年，李恩光，裴仁清．机电一体化系统设计．北京：机械工业出版社，2004
51 邹慧君，廖武，郭为忠等．机电一体化系统概念设计的基本原理．机械设计与研究，1999，3：14～17
52 Semyon D. Savransky, Engineering of Creativity: Introduction to TRIZ Methodology of inventive Problem Solving[M]. Boca Raton, Florida: CRC Press, 2000
53 William C., Regli, et al. The Engineering Design Repositories Project
54 Porter LD. Schemebuilder Mechatronies, Proceedings of Engineering Design Conference, 1998
55 姚致扬，黄纯颖，沈钢等．机械传动原理方案设计目录结构模式的研究．中国机械工程，1998，9(6)：53～55
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57 唐林，邹慧君．计算机辅助机构选型的实现．中国机械工程，2001， 12(8)：918～921
58 郑刚，张慧慧，费仁元．机电接口技术的内涵和发展．北京工业大学学报，2003，29(4)：414～417
2 谢里阳．现代机械设计方法．2005．北京：机械工业出版社，2005
3 邹慧君主编．机械设计原理．上海：上海交通大学出版社，1995
4 RAP M et al. Integrated Distributed Intelligent Systems in Manufacturing [M]. London: Chapman&Hall. 1992
5 Pahl G, Beitz W. Engineering Design. London: The Design Council, 1984
6 Koller R. Konstruktionslehre Fur Den Maschinenbau. Springer Verlag, 1985
7 邹慧君，汪利，王石刚等．机械产品概念设计及其方法综述．机械设计与研究．1998，No．2：9～14
8 谢进，陈永．概念设计及功能“粒化”问题．机械设计，1998，15(3)：45～46
9 Sturges R. H., O' Shaughnessy K., KilaniM. J. Computational Model foe Conceptual Design based in Extended Function Log-ic. AIEDAM, 1996, 10(4): 255～274
10 Qian L., Gero J. S. Function-behavior-structure Paths and their Role in Analogy-based Design[J]. Artificial Intelligence for Engineering Design, Analysis and Manufacture, 1996, 10(4): 289～312
11 Umeda Y., et al. Supporting Conceptual Design Based on the Function-behavior-state Modeler[J]. Artificial Intelligence for Engineering Design, Analysis and Manufacturing, 1996, 10(4): 275～288
12 Adzhiev V., Beynon M., etc. A New Computer-Based Tool for Conceptual Design. Proceedings of the 1994 Lancaster international Work shop on Engineering Design CACD'94: Conceptual Design, Lancaster, 1994: 171～188
13 Li C. L., Tan S. T., Chen K. W. A Qualitative and Heuristic Approach to the Conceptual Design of Mechanisms. Engineering Application of Artificial Intelligence, 1996, 9(1): 17～31
14 吴正洪，邹慧君．机械设计中机构选型初探．机械设计与研究1989，(4)
15 邹慧君，顾明敏．机械系统方案设计专家系统初探(一)——知识库管理系统的建立．机械设计，1996，(5)：26～28
16 邹慧君，顾明敏．机械系统方案设计专家系统初探(二)——推理系统的建立和应用．机械设计，1996，(6)：12～14
17 孔凡国，邹慧君．基于实例的机构创新设计理论于方法的研究．机构与电子，1996，(2)：17～19
18 邹慧君主编．机械运动方案设计手册．上海：上海交通大学出版社，1994
19 邹慧君主编．机械及其系统设计，现代机械设备设计手册．第8篇．北京：机械工业出版社，1996
20 邹慧君编著．机构系统设计．上海：科学技术出版社，1996
21 毛权，肖人彬，周济．CBR中基于实例特征的相似实例检索模型研究．计算机研究发展，1997，34(4)：257～263
22 潘云鹤，耿卫东，童欣．面向智能CAD的分层构造自动型方法．软件学报，1996，7(5)：280～285
23 Feng P., Xu G., Zhang M. Feature modeling Based in Design Catalogues for Principle Conceptual Design. AIEDAM, 1996, 10(4): 347～354
24 王小同，范立础．智能设计系统的IDS模型．模式识别与人工智能，1996，9(2)：112～118
25 Rolf Isermann. Modeling and Design methodology for Meehatronic system IEEE/ASME, Transactions on mechatronics, vol. 1, No. 1, March, 1996: 16～28
26 Isermann, Rolf. Information processing for mechatronic systems. Robotics and Autonomous Systems Volume: 19, Issue: 2, December, 1996: 117～134
27 冯培恩，徐国荣．基于设计目录的原理方案及其求解过程的特征建模．机械工程学报，1998，34(2)：79～86
28 沈敏德，冯培恩，宋烨．基于力学效应的机械传动原理设计知识库的结构研究．工程设计，1999(2)：11～16
29 冯培恩，陈泳，张帅等．基于产品基因的概念设计．机械工程学 报，2002，38(10)：1～6
30 张建明，魏小鹏，张德珍．产品概念设计的研究现状及其发展方向．计算机集成制造系统—CIMS，2003，9(8)：613～620
31 Kurumatani K, Tomiyama T, Yoshikawa H. Qualitative representation of machine behaviors for intelligent CAD systems. Mechanical Machine Theory, 1990, (25): 325～334
32 Shu, Huang Sun and Jahau, Lewis Chen. A Fixture Design System using Case-based Reasoning. Engineering Applications of Artificial Intelligence, 1996, 9(5): 533～540
33 Anthony G O Yeh, Xun Shi. Case-based reasoning (CBR) in development control. International Journal of Applied Earth Observation and Geoinformation, 2001, 3(3): 238～251
34 Grierson, D E, Conceptual design using evolutive-cognitive techniques. Computing in Civil Engineering, 1994, 2: 2183～2190
35 Tong C, Gomory A. A knowledge-based computer environment for the conceptual design of small electromechanieal appliances. Computer, 1993, 26: 69～71
36 Rao, A V, Prakasa N S. BEAS: expert system for the preliminary design of bearings. Advances in Engineering Software, 1992, 14, 163～166
37 Honda K, et al. Constraint-based approach for automatic spatial layout planning. In: Proceedings of the IEEE International Conference on Robotics and Automation, 1992. 38～45
38 Flemming U, et al. Hierarchical Generate-and-test via constraint-directed research. In: AI in Engineering Design. Boston: Academic Press, 1992. 817～838
39 胡炳生，冯元均，陈玉玺等．现代科学技术基础．南京：南京大学出版社，2001
40 王艳东．以人为原型的设计自动化理论与技术研究：[博士学位论文]．济南：山东大学，2006，4：20～21
41 黄克正．复杂表面成形加工系统设计智能化理论与应用研究．山东工业 大学博士论文，1993，8：166～167
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