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

Abstract

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.