摘要
TheconceptofIntelligentMechanicalDesign(IMD)ispresentedtoshowhowamechanicalstructurecanbedesignedtoaffectrobotcontrollability,simplificationandtaskperformance.Exploringthisconceptproduceslandmarksintheterritoryofmechanicalrobotdesignintheformofsevendesignprinciples.Thedesignprinciples,whichwecalltheMecha-TelligencePrinciples(MTP),provideguidanceonhowtodesignmechanicsforautonomousmobilerobots.Theseprinciplesguideustoasktherightquestionswheninvestigatingissuesconcerningself-controllable,reliable,feasible,andcompatiblemechanicsforautonomousmobilerobots.ToshowhowMTPcanbeappliedinthedesignprocessweproposeanovelmethodology,namedasMecha-TelligenceMethodology(MTM).Mechanicaldesignbytheproposedmethodologyisbasedonpreferenceclassificationoftherobotspecificationdescribedbyinteractionoftherobotwithitsenvironmentandthephysicalparametersoftherobotmechatronics.Afterdefiningnewterms,weinvestigatethefeasibilityoftheproposedmethodologytothemechanicaldesignofanautonomousmobilesewerinspectionrobot.Inthisindustrialprojectweshowhowapassive-activeintelligentmovingmechanismcanbedesignedusingtheMTMandemployedinthefield.
出版日期
2007年04月14日（中国期刊网平台首次上网日期，不代表论文的发表时间）
