Robodimm: A Physics-Grounded Framework for Automated Actuator Sizing in Scalable Modular Robots

摘要

Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains, where joint torques are coupled and actuator inertia propagates through the mechanism. We present Robodimm, a software framework for automated actuator sizing in scalable robot architectures. By leveraging Pinocchio for dynamics and Pink for inverse kinematics, Robodimm uses a Karush-Kuhn-Tucker (KKT) formulation for constrained inverse dynamics. The platform supports parametric scaling, interactive trajectory programming through jog modes, and a two-round validation workflow that addresses actuator self-weight effects.