Task based design of modular robot manipulator using efficient genetic algorithm

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.

Authors

• Wan Kyun Chung
• Jeongheon Han
• Youngil Youm
• Seungho Kim

Keywords

• Algorithm design and analysis
• Robots
• Manipulators
• Genetic algorithms
• Robotic assembly
• Prototypes
• Robotics and automation
• Kinematics
• Engine cylinders
• Mechanical engineering
• Robot Manipulator
• Modular Robots
• Efficient Genetic Algorithm
• Kinematic
• Linker Length
• Parallel Method
• Parallel Connection
• Coordinate System
• Specific Tasks
• Dot Product
• Mechanical Design
• Linker Domain
• Bit Length
• Revolute Joints