Abstract
In this study, an optimal design of a 2 degree-of-freedom anthropomorphic robot module is performed. A composite design index is employed to deal with multi-criteria based design in a systematic manner. The results from kinematic optimization based on two different composite indices are compared with respect to the global design indices, operational performance indices, and optimal actuator sizes. It is found that incorporating the gradient properties of the design indices into the composite design index yields even distribution of operational performances throughout the workspace and reduces the sizes of the system actuators.
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