Genetic algorithm-based optimal design of modular robot topology based on distributed parallel kinematic modeling and analysis

Task-oriented design of modular robot topology is a crucial issue to be solved in modular robot research. In this paper, a Genetic algorithm-based optimal design strategy for the modular robot topology is proposed. Four tuples are used to represent the modular robot topology. By establishing a datab...

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Veröffentlicht in:Engineering applications of artificial intelligence Jg. 123; S. 106251
Hauptverfasser: Fei, Junting, Jia, Qingxuan, Chen, Gang, Li, Tong, Wang, Ruiquan, Zhang, Xiaodong
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Ltd 01.08.2023
Schlagworte:
Four-tuple representation
Kinematic modeling
Modular robot topology
Optimal design
The database of motion transmission forms
The database of motion transmission forms
Modular robot topology
Kinematic modeling
Four-tuple representation
Optimal design
ISSN:0952-1976, 1873-6769
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Zusammenfassung:Task-oriented design of modular robot topology is a crucial issue to be solved in modular robot research. In this paper, a Genetic algorithm-based optimal design strategy for the modular robot topology is proposed. Four tuples are used to represent the modular robot topology. By establishing a database of motion transmission forms for a modular unit, a distributed parallel kinematic modeling and analysis method for modular robots is introduced. Taking the four-tuple representation of the modular robot topology as decision variables, an optimization model of the topology design for modular robots is established. To solve the model, under the framework of the Genetic algorithm, the genotype and genetic operations are designed to improve the effectiveness of individual generating in the optimization process. Finally, a modular robot is taken as an example to carry out simulations. It indicates that the modular robot under the designed topology can successfully execute tasks with as few modular units as possible, and the computing time for the kinematics modeling and analysis of modular robots can be reduced by at least an order of magnitude. •Topology is a type of information about the connection state of a modular robot.•Topology design can make modular robots more adaptive to tasks.•The application of optimization can improve the efficiency of topology design.•Robot kinematics with modular modeling and parallel computing has high efficiency.
ISSN:0952-1976
1873-6769
DOI:10.1016/j.engappai.2023.106251