The researchers used axiomatic design theory to create a model that links design parameters to functional requirements in the configuration process of a special modular robot. By analyzing design requirements and using zigzagging mapping, they identified design parameters for different levels of functional requirements. These parameters were then used to plan the design order and establish a design matrix. The robot's design parameters were categorized into enable modules and structural modules, each requiring different configuration methods. Axiomatic design was applied again during the configuration design process of structural modules, transforming design parameters into specific kinematic and dynamic parameters to verify configuration candidates.