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Concurrent optimal design of modular robotic configuration. (English) Zbl 1006.70006
A 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.

MSC:
70E60 Robot dynamics and control of rigid bodies
70B15 Kinematics of mechanisms and robots
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