ROBOTIC SYSTEM
DESIGN
Lecture 3: Robotic system design process
Course instructor: Nguyễn Duy Ánh
Ho Chi Minh City Univ. of Tech – Mechatronics Department
Robotic System Design
Contents
• Axiomatic design
• Case study
• Model-based design
• SysML - Systems Modeling Language
• MBSE - Model-Based Systems Engineering
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Robotic System Design
Axiomatic design
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Robotic System Design
Axiomatic design
• Axiomatic design is a systems design methodology using matrix methods to systematically analyze
the transformation of customer needs into functional requirements, design parameters, and
process variables.
• Axiomatic design is particularly useful in industries where precision and reliability are critical, such as
aerospace, automotive, and manufacturing
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Robotic System Design
Axiomatic design
• The customer domain indicating the needs of the customer.
• The functional domain expressing the desired functions (desired behaviour) of the design object.
• The physical domain representing the physical properties of the design object.
• The process domain illustrating how to achieve or produce the design object.
Acclaro DFSS
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Robotic System Design
Axiomatic design
Axiom 1 - The Independence Axiom Axiom 2 - The Information Axiom
• This states that functional requirements (FRs) should • This states that designs should contain the minimum amount
be independent of one another. of information required to satisfy the FRs.
• In other words, the design should be modular so that • The information content should be minimized to reduce
changes to one FR do not affect other FRs. complexity and uncertainty.
• This enables designs that are less prone to unintended • This enables simpler, more robust designs by avoiding
consequences and side effects when modifications are unnecessary "information" that does not contribute to
made. meeting the functional goals.
• On a design matrix, an independent design is • On a design matrix, the information axiom is satisfied when
represented by diagonal or triangular matrix with no each FR is addressed by the minimum number of DPs.
couplings between FRs and design parameters (DPs). • Together, the two axioms promote decoupled, modular
design with simplified solutions focused on the essential FRs
to be met. 6
Robotic System Design
Axiomatic design
• The Information Axiom helps to find the best design solution among different possibilities Ii
• The smaller the information content, the less information is needed to reach the design goals
• The information content can be computed by calculating the probability Pi of satisfying FRi,
also known as the probability of success
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Robotic System Design
Decomposition, hierarchy and zigzagging
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Robotic System Design
Generic Product Development
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Robotic System Design
Quality Function Deployment
• Quality Function Deployment (QFD) is a
method for structured product planning and
development that follows a process to correlate
customer requirements with product properties
and the technical specification of the product
using a morphological chart.
• House of Quality, which consists of a customer
needs as well as a technical response section, a
relationships matrix, a section for correlations in
between technical responses, a planning matrix
and a technical matrix
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Robotic System Design
Axiomatic design –
Case Study
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Robotic System Design
Case study - ELECTRIC BICYCLES
APPLICATION OF AXIOMATIC
DESIGN TO ELECTRIC
BICYCLES, Andreas Kreuzer
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Robotic System Design
Step 1: Data collection
• The Axiomatic Design process starts with the customer
domain which assesses the needs of customers.
• A total of 440 customer statements were identified
• Sorting and processing of the data was done manually
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Robotic System Design
Step 2: Top-level FRs and DPs
• Based on the 440 customer statements collected and the expertise of the General Manager, FRs and DPs
were formulated
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Robotic System Design
Step 3: Decomposition of FR and DP
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Robotic System Design
Constraints
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Robotic System Design
Step 4: Design matrix
• Mapping in between the functional domain and the
physical domain, resulting in the design matrix
Decoupling
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Robotic System Design
Step 4: Design process
• The presented design was not achieved at once,
it is the result of a process of re-design cycles
• In the first step, FR and DP hierarchies had to be
made consistent, otherwise there would have
been insufficient DPs or a redundant design.
This was achieved through combination,
decomposition and zigzagging in between
FRs and DPs.
• Improving design quality by adding or removing
dependencies in between FRs and DPs as well
as resolving coupling issues
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Robotic System Design
Step 5: RESULTS
• Axiomatic Design helps to analyse the capabilities
and visualizes the dependencies of the single
components
• Many mistakes can be shown at an early stadium,
so time can be saved without getting these results
too late in a more advanced stage
• Limitation: the workload that comes with the
quantitative assessment of the Information Axiom
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Robotic System Design
Case study - Automotive Suspension Systems
Axiomatic Design of Automotive 20
Suspension Systems, Sangwoo Bae
Robotic System Design
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Robotic System Design McPherson strut
• This type of suspension consists of an arm (LA), a strut (ST) and a link (TR)
• It has 7 hardpoints (P1 - P7) which have three coordinates respectively, resulting 21 DPs
(Strong, passable, weak)
a cross-coupled system
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Robotic System Design Double wishbone
• The double wishbone suspension consists of two arms (UA, LA) and a link (TR)
• With 8 hardpoints (P1 - Pa), there are a total of 24 DPs
a cross-coupled system
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Robotic System Design
Multilink
• The multilink suspension consists of five links (UL, UT, LL, LT, TR)
• With 10 hardpoints (P1 – P10), there are 30 DPs
• P4, P9 and P10 are not selected as the dominant DPs, and therefore they are removed for
limited space
Fully decoupled system
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Robotic System Design
Design change for the McPherson strut
the LA is replaced with two equivalent links (LF, LR) to convert it
to a decoupled design
decoupled system
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Robotic System Design
SEQUENTIAL DESIGN
PROCEDURE
• McPherson strut and double wishbone: FR5,
FR4, FR3, FR2 and FR1
• Multilink and design change: detailed design
should start with the caster (FR5), followed by
the kingpin offset (FR4), camber (FR2), toe
(FR1) and wheelbase change (FR3).
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Robotic System Design
Case study - Lift stacker
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Robotic System Design
Case study - Lift stacker
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Robotic System Design
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Robotic System Design
Model-based design
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Robotic System Design
Model-based design
Model-based design (MBD) is a mathematical and visual method of addressing problems associated with
designing complex control, signal processing, and communication systems.
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Robotic System Design
Model-based design
Key Principles of Model-Based Design: Mathematical Modeling, Simulation and Analysis, and Iterative
Optimization.
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Robotic System Design
Model-based design
Steps in Model-Based Design:
• System or Product Specification: Begin by defining the specifications and requirements of the system or
product. What are the desired functionalities and performance criteria?
• Mathematical Modeling: Create mathematical models that represent the various components and
interactions within the system. These models may include equations, block diagrams, state machines, or
other mathematical representations.
• Simulation: Use specialized software tools to simulate the behavior of the system based on the mathematical
models. Simulations can include dynamic responses, control strategies, and performance analysis.
• Analysis and Optimization: Analyze the simulation results to assess whether the design meets the
specifications. If not, make design modifications and re-simulate. This iterative process continues until the
design meets the desired criteria.
• Validation: Validate the design by comparing simulation results with physical testing or real-world data to
ensure that the model accurately represents the actual system.
• Implementation: Depending on the specific application, the mathematical models can be used to generate
code for embedded systems or serve as blueprints for physical prototypes.
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Robotic System Design
Model-based design
Advantages of Model-Based Design:
• Reduced Development Time: Model-based design allows for rapid prototyping and testing in the virtual
environment, reducing the need for physical prototypes and speeding up the development process.
• Cost Savings: By identifying and addressing design flaws early in the virtual prototyping phase, model-
based design can lead to cost savings by avoiding expensive design changes late in the process.
• Improved Performance: Engineers can fine-tune and optimize designs more effectively using simulations,
leading to improved performance and reliability.
• Complexity Management: Model-based design helps manage the complexity of intricate systems by
providing a structured way to understand and analyze their behavior.
• Documentation: Detailed mathematical models provide comprehensive documentation of the design, aiding
in troubleshooting, maintenance, and future modifications.
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Robotic System Design
Model-based design
Challenges of Model-Based Design:
• Skill and Training: Model-based design often requires specialized software tools and expertise in
mathematical modeling, which may necessitate training for engineering teams.
• Model Verification: Ensuring that the mathematical models accurately represent real-world behavior can be
challenging and requires rigorous validation.
• Resource Intensive: Running complex simulations can be computationally demanding and may require high-
performance computing resources.
• Integration: Integrating model-based design into existing development processes and workflows can be a
complex task.
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Robotic System Design
UML, SysML, MBSE
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Robotic System Design
UML - Unified Modeling Language
• Unified Modeling Language (UML) consists of several types of diagrams, each serving a specific purpose, to
visualize, specify, and document different aspects of software systems
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Robotic System Design
UML - Unified Modeling Language
• UML diagrams are divided into two
main categories: Structure
Diagrams and Behavior Diagrams,
with each category having several
diagram types under it.
• Structure diagrams Structure diagrams
depict the static structure of the system,
illustrating the system's classes or
objects and their relationships.
• Behavioral diagrams Behavior diagrams
depict the dynamic aspects of a system,
illustrating how the system functions
and changes over time. 38
Robotic System Design Class Diagram
Represents the static
structure of a system,
showing classes, attributes,
operations, and the
relationships between
classes.
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Robotic System Design Use Case Diagram
Represents the functionality
provided by a system in
terms of actors, their goals
(represented as use cases),
and any dependencies
between those use cases.
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Robotic System Design Sequence Diagram
Represents the interaction
between objects in a specific
time sequence.
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Robotic System Design
SysML – System Model Language
• SysML is designed to model a broad range of systems, which can include hardware, software, data,
personnel, and more, making it versatile for various engineering domains.
• SysML is an extension of UML designed for use in systems engineering applications.
SysML Extensions:
•Definitions for Block Definition
and Internal Block Diagrams –
BDD & IDB
•Changes in the activity diagram
•Requirements diagram – New
•Parametric diagram – New
•Allocations (traceability) – New
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Robotic System Design
SysML – System Model Language
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Robotic System Design
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Robotic System Design
MBSE - Model-based Systems Engineering
• A formalized methodology that is used to support the requirements, design, analysis, verification, and validation
associated with the development of complex systems.
• In contrast to document-centric engineering, MBSE puts models at the center of system design.
• SysML serving as one of the foundational elements within the MBSE methodology. It is Modeling Language for
MBSE
• MBSE brings together three concepts: model, systems thinking, and systems engineering:
- A model is a simplified version of something--a graphical, mathematical, or physical representation that
abstracts reality to eliminate some complexity.
- Systems thinking is a way of looking at a system under consideration not as a self-sufficient entity, but as part
of a larger system.
- Systems engineering is a transdisciplinary and integrative approach to enable the successful realization, use,
and retirement of engineered systems, using systems principles and concepts, and scientific, technological,
and management methods.
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Robotic System Design MBSE - Model-based Systems Engineering
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Robotic System Design Integration of Axiomatic Design and MBSE:
• Motion from left to right represents an engineer’s
synthesis activity from “what needs to be achieved” to
“how it is to be achieved”
• Motion from right to left represents an engineer’s
analysis activity which supports validation an
verification
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