面向FAHP-熵权理论的装配机器人造型设计优化研究

目的装配机器人在制造业中已得到广泛应用,为进一步丰富装配机器人的造型意象,满足用户需求。方法基于模糊综合评价法(FAHP)与熵权理论对装配机器人进行了造型设计流程分析。首先,依据层次分析法(AHP)构建装配机器人用户需求层次模型并计算各要素初步的权重值。然后,引入熵权理论完成各要素修正权重的分析与计算,将各要素初步权重值与修正权重值进行拟合,形成最终权重并排序,以此为装配机器人造型设计提供重要依据。结论最后以小型全方位装配机器人平台设计实践为例进行具体分析,完成了小型全方位装配机器人平台造型创新设计,并通过模糊评价筛选出最优方案。其实践过程验证了设计流程的可行性,并提供了更好的产品造型意象。

Optimization of Assembly Robot Modeling Design Based on FAHP and Entropy Weight Method

The work aims to further enrich the modeling image of assembly robot to meet the needs of users in view of that assembly robots have been widely used in manufacturing industry. The modeling design process of assembly robots was studied based on the fuzzy comprehensive evaluation method (FAHP) and the entropy weight theory. Firstly, a hierarchical model of user needs for assembly robots was constructed based on analytic hierarchy process (AHP) and the preliminary weights of each element were calculated. Secondly, the entropy weight theory was introduced to complete the analysis and calculation of the revised weights of each element, and the initial weights of each element were fitted with the revised weights to form the final weights and conduct ranking, which provided an important basis for the modeling design of assembly robots.Finally, taking the design practice of small Omni-directional assembly robot platform as an example, the specific theoretical analysis is carried out, and the innovative design of small Omni-directional assembly robot platform is formed. Through the fuzzy evaluation method, the optimal scheme is selected. The feasibility of the design process is verified by the practice process, which can provide better product modeling image.