Design Automation of Modular Industrial Robots

This paper presents a novel approach for designing modular robots. There are two main components in this approach namely the modeling methodology of the robot and a framework for simulation of the models and execution of an optimization process. To illustrate the presented methodology an integrated analysis tool for an industrial robot is developed combining dynamic and geometric models in a parametric design approach. An optimization case is conducted to visualize the automation capabilities of the proposed framework, and enhance the design for modular industrial robots.