Computer-aided design of manipulation robots via multi-parameter optimization

Abstract In the paper are presented the basic ideas of computer-aided design of manipulation robots based on adopted optimizational criteria and on set constraints of strengths, as well as on actuator capabilities. Using complete models of manipulator dynamics, a simulation programme was derived, giving at its output the optimal design parameters of manipulator. An algorithm was formed, optimizing simultaneously two of the several significant manipulator parameters. In one case these are two diameters of circular cross-section segments, in another, one is a diameter and the other the reducing ratio of the DC motor type actuator.