Task based design of modular robot manipulator using efficient genetic algorithm

摘要

A modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes a task based design method of modular robot manipulators. A locking mechanism which provides quick coupling and decoupling is developed and a parallel connection method is devised reducing the number of components on each module. To automatically determine the optimal link lengths of a modular manipulator for a given, task, the algorithm is two step: determine the necessary configuration of the robot using kinematic equations and then determine the optimal link length using the proposed efficient genetic algorithm. Some of design examples are shown.