Design of mechatronic products based on user-customized configuration : an application for industrial robots Jing Li To cite this version: Jing Li. Design of mechatronic products based on user-customized configuration : an application for industrial robots. Mechanics [physics.med-ph]. Université de Technologie de Compiègne; Northwestern Polytechnical University (Chine), 2015. English. NNT : 2015COMP2211. tel-01473955 HAL Id: tel-01473955 https://tel.archives-ouvertes.fr/tel-01473955 Submitted on 22 Feb 2017 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Par Jing LI Design of mechatronic products based on user- customized configuration : an application for industrial robots Thèse présentée en cotutelle pour l’obtention du grade de Docteur de l’UTC Soutenue le 28 août 2015 Spécialité : Mécanique Avancée D2211 THÈSE Pour l’obtention du grade de docteur délivré par SORBONNE UNIVERSITÉS - UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE SPÉCIALITÉ MECANIQUE AVANCÉE Ecole doctorale n°71 Sciences pour l'ingénieur - Laboratoire Roberval (CNRS, UMR 7337) Présentée et soutenue publiquement par Jing LI Le 28 août 2015 Design of Mechatronic Products Based on User-Customized Configuration: An Application for Industrial Robots DIRECTEURS DE THÈSE : M. Benoît EYNARD Mme Shurong Tong JURY M. BUDINGER Marc, Maître de Conférences - HDR, INSA de Toulouse rapporteur M. HE Zhen, Professeur, Tianjin University rapporteur M. EYNARD Benoît, Professeur des Universités, Université de Technologie de Compiègne directeur de thèse Mme TONG Shurong, Professor, Northwestern Polytechnical University co-directrice de thèse Mme PRELLE Christine, Professeur des Universités, Université de Technologie de Compiègne examinatrice M. QIN Xiansheng, Professor, Northwestern Polytechnical University examinateur Mme BOSCH-MAUCHAND Magali, Maître de Conférences, Université de Technologie de Compiègne examinatrice Mme DAABOUL Joanna, Maître de Conférences, Université de Technologie de Compiègne examinatrice ACKNOWLEDGEMENTS ACKNOWLEDGEMENTS First and foremost I would like to thank my supervisors Professor Benoît EYNARD in France and Professor Shurong TONG in China, who set this research program in motion and has offered timely guidance and support throughout its duration. Merci beaucoup! Special thanks Professor Xiansheng Qin. In the process of my thesis writing, he gave me a lot of help, so that I can quickly determine the research direction. When I appeared puzzled, Professor Qin always found strategically advantageous position, and sharply pointed out where the problem is. Every time when I ask questions to Professor, I have been impressed by his profound knowledge. Thanks Joanna Daaboul, Magali Bosch-Mauchand, Nadège Troussier, Keqin Wang, Xinwei Zhang, Matthieu Bricogne. They often proposed valuable advice to my research work. Thanks senior brother Zhaohua Wang, senior sister Chunzhi Li. Their diligence and prudence always remind me to keep trying. Thanks office colleagues Jun Du, Hongye He, Shan Yan, Jianfeng Jiang, Zongxiao Wu, Tianhang Liu, Jing Luo, Yanfen Cao, Deteng Liu. When I encounter difficulties, they always give me help. Last, but certainly not least, thanks my parents, my brother, and my husband. They always give me confidence and encouragement. Thanks my daughter Kiki. She adds a lot of bright for my doctoral life, so that I can have a happy mood every day. Sincerely thank the reviewers! I ABSTRACT DESIGN OF MECHATRONIC PRODUCTS BASED ON USER-CUSTOMIZED CONFIGURATION: AN APPLICATION FOR INDUSTRIAL ROBOTS Jing LI ABSTRACT In today's market, obtaining a variety of products through configuration design has become increasingly common. However, with the development of the market, customers have not only satisfied the company offering a variety of products, and more demands on participating in the process of configuration design by themselves, so that they can obtain fully personalized products. Customer participation leads to the changes of design process, company's management model, etc. Based on the above problem, this thesis takes industrial robot as an example, and studies the management issues related to the customer involved in the design, in order to address the contradiction between product diversification, personalized requirements and the long design cycle and high manufacturing costs. Firstly, Auser-customized configuration design pattern is presented. The theory source of user-customized configuration design pattern is introduced, and then the related concepts are expounded. The corresponding business mode of user-customized configuration design pattern is given, and the key technologies to realize business mode is studied. System dynamics models were established for user-customized configuration design business mode and for traditional business mode of industrial robots by Anylogic simulation software. Secondly, the component-based theory and method are studied, including the formal description of things, ontology representation, componentization and servitization. On this basis, the componentization description model is established for the product parts. And the model is represented as service-component. Next, the formation process and extension method of service-component are introduced. An example of industrial robot components modeling is analyzed, including establishing industrial robot domain ontology by protégé, describing, instantiating and extensing components. Thirdly, the industrial robot user-customized configuration design template is constructed, II ABSTRACT and users can obtain the industrial robot meeting constraints through parameters setting; The kinematics and dynamics analysis on template is taken by Simscape model, and the dynamic parameters is analyzed, and the finite element analysis on template is taken by ANSYS, including statics analysis and modal analysis. The parameters flow process in template is analyzed. Then taking industrial robot user-customized configuration design using configuration template as an example, the configuration template is analyzed in application. Fourthly, the internal algorithm of user-customized configuration design is researched. Platform-based and user-leading user-customized configuration design process is constructed, and then the internal algorithm to keep the design running smoothly is studied, including the degree of freedom determination, fuzzy demand calculation, and service-component configuration and the configuration program evaluation. A case analysis is also taken for the internal algorithm Finally, on the basis of the previous section, the prototype system design of the open design platform is taken. Based on system requirements analysis and system design, the main pages of the platform are designed, and the key functions are introduced Keywords: configuration design; design management; user-customized design; industrial robot; ontology; object-oriented representation; product template III TABLE OF CONTENTS TABLE OF CONTENTS Page CHAPTER 1 INTRODUCTION ...................................................................................... 1 1.1 Background ............................................................................................................ 1 1.2 The research status and analysis ............................................................................. 2 1.2.1 The research status ....................................................................................... 2 1.2.2 The research status summary and analysis ................................................. 15 1.3 Thesis significance and main research contents ................................................... 16 1.3.1 Research significance ................................................................................. 16 1.3.2 The structure of research contents .............................................................. 17 CHAPTER 2 USER-CUSTOMIZED CONFIGURATION DESIGN PATTERN ..... 20 2.1 Theoretical Basis .................................................................................................. 20 2.2 Related Concepts of User-Customized Configuration Design Pattern ................. 22 2.3 Business Mode Analysis ....................................................................................... 28 2.3.1 User-customized configuration design business mode .............................. 28 2.3.2 Key technologies of user-customized configuration design business mode ............................................................................................................................. 30 2.4 Validation of Proposed User-Customized Configuration Design Pattern through Simulation .................................................................................................................. 32 2.4.1 Analysis of traditional business mode and user-customized configuration design business mode .......................................................................................... 32 2.4.2 System dynamics model ............................................................................. 34 2.4.3