中文摘要：

针对具有分离式差分机构的三箱体五轮机器人的多重构参数与机器人性能指标如稳定性、驱动力矩等非线性关系,采用iSGIHT-FD软件平台,利用Approximation方法中的响应面模型逼近局部特性,对多目标优化后数据结果进行设计数据可视化敏度分析,获得了多个重构变量对非线性性能指标的量化影响的相对大小.结果表明,轮臂的前倾角的影响最大而第五轮轮臂长度影响最小.随后对机器人实际构型进行了实验验证.该方法对于非线性多元函数的各个变量对相对影响（灵敏度）分析和可视化具有简洁、快速和直观的特点.

英文摘要：

Reconfiguration is an effective solution for robots involved in multi-tasking to enhance performance and reduce cost.The reconfigurable parameters such as stability,mass,and torque of a five-wheel three-body mobile robot with a non-linear relationship toward its performance was analyzed with iSGIHT-FD software.A multi-objective optimization regarding the sensitivity of these parameters was performed to obtain the Pareto set.Furthermore,visualization of design data（VDD） and a response surface method（RSM） of approximation in iSGIHT-FD was used to obtain the relative influence of theses reconfigurable variables.Generally,results of the VDD show that caster angles have the highest impact,while the arm length of the fifth wheel has the least effect.Consequently,corresponding tests of the prototype of a five-wheeled robot were implemented.This method is suitable to succinctly,quickly,and intuitively obtain the relative impact of each variable（sensitivity） of nonlinear multi-variable functions with visualization.