Concurrent optimal design of modular robotic configuration.

*(English)*Zbl 1006.70006A modular robotic system is a system which consists of several links and modular joints with standardized connecting interfaces. Here a new optimization design methodology, called a concurrent one, is applied to these systems. The authors treat traditional and dimensional syntheses in a unified manner, and define variables for each type of synthesis. A genetic algorithm (GA) is used to study two-degree-of-freedom robotic system, and diagrams present numerical results for the choice of design variables and for the average and maximum fitness vs. GA generation.

Reviewer: Petre P.Teodorescu (Bucureşti)

##### Keywords:

concurrent optimal design; kinematics; modular robotic system; modular joints; genetic algorithm; two-degree-of-freedom robotic system
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\textit{Z. M. Bi} and \textit{W. J. Zhang}, J. Rob. Syst. 18, No. 2, 77--87 (2001; Zbl 1006.70006)

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