Study on modular configuration design method for special robot

A modular configuration design method based on Axiomatic Design theory has been put forward. According to the decomposition result between FRs and DPs, the candidate of modules and the configuration can be confirmed. In the process of configuration design of special robots, the enable modules and structural modules have been put forward. These make the decomposition easier and fit modular robots well. After that, the kinematics/dynamics analysis should be launched to verify whether the configuration meets the DPs or not. The modular configuration design method has been applied to a particular design task, and it works well.