Scheme Configuration of Deformable Spherical Robots Based on Fuzzy Rough Number

Fang Shihao; Qin Jianjun; Cao Yu; Shao Pai; Liu Xingjie

doi:10.16578/j.issn.1004.2539.2024.04.003

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Scheme Configuration of Deformable Spherical Robots Based on Fuzzy Rough Number

Theory·Research | 更新时间：2024-04-19

- Scheme Configuration of Deformable Spherical Robots Based on Fuzzy Rough Number
- Journal of Mechanical Transmission Vol. 48, Issue 4, Pages: 18-25(2024)
- 作者机构：
  
  1.北京建筑大学机电与车辆工程学院，北京 100044
  2.北京市建筑安全监测工程技术研究中心，北京 100044
  3.中兵智能创新研究院有限公司，北京 100072
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.04.003
  CLC：
- Published：15 April 2024，
  
  Received：17 January 2023，
扫描看全文
房世豪,秦建军,曹钰等.基于模糊粗糙数的变形球机器人方案配置[J].机械传动,2024,48(04):18-25.

Fang Shihao,Qin Jianjun,Cao Yu,et al.Scheme Configuration of Deformable Spherical Robots Based on Fuzzy Rough Number[J].Journal of Mechanical Transmission,2024,48(04):18-25.
房世豪,秦建军,曹钰等.基于模糊粗糙数的变形球机器人方案配置[J].机械传动,2024,48(04):18-25. DOI： 10.16578/j.issn.1004.2539.2024.04.003.

Fang Shihao,Qin Jianjun,Cao Yu,et al.Scheme Configuration of Deformable Spherical Robots Based on Fuzzy Rough Number[J].Journal of Mechanical Transmission,2024,48(04):18-25. DOI： 10.16578/j.issn.1004.2539.2024.04.003.

摘要

针对球形机器人在多需求非结构化环境下设计方案配置与选型中存在的主观性和不确定性问题，提出了模糊粗糙数与复杂比例评估（Complex Proportional Assessment，COPRAS）相耦合的方案评估方法。综合考虑方案设计时不同需求特征指标间的重要度关系，基于模糊粗糙数实现对需求特征指标的定量分析；采用COPRAS方法对所有备选设计方案进行综合评估，根据效用度指数得到所有备选设计方案的优先级排序，确定最优的配置方案，并以变形球机器人的选型为例进行了评估验证。结果表明，该方法具有较好的可靠性和实用性，为以后机器人设计方案的配置选型提供了有效参考。

Abstract

Aiming at the problem of subjectivity and uncertainty in the configuration and selection of spherical robot design schemes in multi-demand unstructured environments

a scheme evaluation method coupled with fuzzy rough number and complex proportional assessment (COPRAS） is proposed. Considering the importance relation between different demand characteristic indexes in scheme design

the quantitative analysis of demand characteristic indexes is realized based on the fuzzy rough number. The COPRAS method is used to comprehensively evaluate all alternative design schemes

the priority ranking of all alternative design schemes is obtained according to the utility index to determine the optimal configuration scheme， and the selection of deformed spherical robots is taken as an example for evaluation and verification. The research results show that the method has good reliability and practicability

which provides effective reference for the configuration and selection of the robot design scheme in the future.

关键词

球形机器人模糊粗糙数COPRAS方法方案配置

Keywords

Spherical robotFuzzy rough numberCOPRAS methodScheme configuration

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