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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.

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