Optimal Kinematics Design of an Industrial Robot Family

Abstract

Product family design is a well recognized method to address the demands of mass customization. A potential drawback of product families is that the performance of individual members are reduced due to the constraints added by the common platform, i.e. parts and components need to be shared by other family members. This paper presents a formal mathematical framework where the product family design problem is stated as an optimization problem and where optimization is used to find an optimal product family. The object of study is kinematics design of a family of industrial robots. The robot is a serial manipulator where different robots share arms from a common platform. The objective is to show the trade-off between the size of the common platform and the kinematics performance of the robot.