Concurrent optimal design of modular robotic configuration

This paper presents a new optimization design methodology that is applicable to modular systems. This new methodology is called concurrent optimization design Ž . method CODM . A modular robot is taken as a case study. The CODM is superior to the existing methods for modular robot configuration design in the sense that traditional type synthesis and dimensional synthesis now can be treated once. This Ž . mathematically implies that i variables are defined for both types and dimensions, Ž . and ii all the variables are defined in one optimization problem formulation. This paper illustrates that, in fact, optimization design for modular architectures necessitates a multiobjective optimization problem. A genetic algorithm is used to solve for this complex optimization model which contains both discrete and continuous variables. 2001 John Wiley & Sons, Inc.