Knowledge-based automated mechanical design of a robot manipulator

Abstract

Design methods have been improving with an increasing level of algorithmic support for some time. The most recent advances include generative design and various optimization methods. However, the automated design tools are often focused on a single stage of the design process, for example, kinematics design, mechanical topology, or drive selection. In this paper, we show the whole design process of a robotic manipulator in an automated workflow. The method consisted of two main parts: a genetic optimization of the kinematic structure and an iterative automated CAD design. The method was then applied to a case study in which a manipulator with five degrees of freedom for a handling task was designed.