MBSE INCORPORATING TIME-DEPENDENT BEHAVIOR FOR THE DESIGN OF ROBOT-LIKE SYSTEMS

Complex systems typically consist of many components and are subject to many requirements. Approaches like the V-Model support complex systems design by providing guidelines on how to break down large systems into smaller pieces. Models built with SysML provide documentation on an abstract level. However, neither incoporates detailed information on components that may be relevant for design decisions. In robot-like systems, e.g., the choice of transmissions will depend on the system dynamics of the robot. This is modeled in the time domain, where detailed time-dependent component interaction is considered. The design perspective, however, is best represented in the property domain. Here, requirements on static component properties are formulated. This paper presents a generic approach that connects the property and time domains to enable early-stage design decisions. The approach is applied to a 1-link robot system with a simple demonstrator transmission model, including properties that are typically not considered in the early design phase, like a nonlinear stiffness characteristic with backlash.