Modular design, Axiomatic design (AD) and Theory of inventive problem solving (TRIZ) have been increasingly popularized in concept design of modern mechanical product. Each method has their own advantages and drawbacks. The benefit of modular design is reducing the product design period, and AD has the capability of problem analysis, while TRIZ’s expertise is innovative idea generation. According to the complementarity of these three approaches, an innovative and systematic methodology is proposed to design big complex mechanical system. Firstly, the module partition is executed based on scenario decomposition. Then, the behavior attributes of modules are listed to find the design contradiction, including motion form, spatial constraints, and performance requirements. TRIZ tools are employed to deal with the contradictions between behavior attributes. The decomposition and mapping of functional requirements and design parameters are carried out to construct the structural hierarchy of each module. Then, modules are integrated considering the connections between each other. Finally, the operation steps in application scenario are designed in temporal and spatial dimensions. Design of cutter changing robot for shield tunneling machine is taken as an example to validate the feasibility and effectiveness of the proposed method.

模块化设计、公理化设计（AD）和创造性问题解决理论（TRIZ）在现代机械产品的概念设计中越来越普及。每种方法都有自己的优点和缺点。模块化设计的好处是缩短产品设计周期，AD具备问题分析能力，而TRIZ的专长是创新理念的产生。根据这三种方法的互补性，提出了一种创新的、系统的方法论来设计大型复杂机械系统。首先，基于场景分解进行模块划分。然后，列出模块的行为属性以找出设计矛盾，包括运动形式、空间约束和性能要求。TRIZ 工具用于处理行为属性之间的矛盾。对功能需求和设计参数进行分解映射，构建各个模块的结构层次。然后，考虑彼此之间的连接，集成模块。最后，对应用场景的操作步骤进行了时空维度的设计。以盾构掘进机换刀机器人设计为例，验证了该方法的可行性和有效性。应用场景中的操作步骤是在时间和空间维度上设计的。以盾构掘进机换刀机器人设计为例，验证了该方法的可行性和有效性。应用场景中的操作步骤是在时间和空间维度上设计的。以盾构掘进机换刀机器人设计为例，验证了该方法的可行性和有效性。