Optimization Design of Configuration, Structure and Drive Train Synthesis for Serial Robotic Arms

There have been various designs of collaborative robotic arms currently, and they have different advantages and disadvantages. Here, we propose a new method, by which one can optimally obtain a basic design of configuration, structure and drive train synthesis, based on the desired functions and performances. Specifically, we parameterize the configuration and drive train of robotic arms, simply assume the links as hollow cylinders, and parameterize the structural dimensions. These design parameters are linked to the mass, actuator selection, structural stiffness and workspace by a co-simulation model. Through using the optimization algorithm, a relatively optimal design for the desired functions and performances can be obtained. A design example demonstrates the application of the proposed approach in the optimal design of a lightweight six-degree-of-freedom robotic arm with the maximized workspace. Finally, we further analyze the workspace and illustrate the comparison between the optimal design and typical collaborative robotic arms. Our approach can be extended further for other particular design requirements.