通过多目标优化分析机械臂结构，揭示最优配置规律。
Analysis of Various Manipulator Configurations Based on Multi-Objective Black-Box Optimization
- 采用黑箱多目标优化，同时考虑末端可达性与关节扭矩
- 发现现有机械臂结构多处于次优区域，存在改进空间
- 适合机器人设计者参考，尤其关注高效能机械臂开发
目前已有多种6自由度和7自由度机械臂被开发，其关节配置与连杆长度比大多基于经验确定。近年来，机器人基础模型发展迅速，推动了多种新型机械臂的提出以支持这些模型。然而，各机械臂在关节顺序和连杆长度比上均不相同。为探讨机械臂的最佳结构，本文从末端可达性与关节扭矩两个维度出发，进行多目标黑箱优化。通过分析优化采样结果，评估现有机械臂结构的位置，并为未来机械臂设计提供指导。
原文摘要 · Abstract (English)
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic foundation models has become increasingly active, leading to the continuous proposal of various manipulators to support these models. However, none of these manipulators share exactly the same structure, as the order of joints and the ratio of link lengths differ among robots. Therefore, in order to discuss the optimal structure of a manipulator, we performed multi-objective optimization from the perspectives of end-effector reachability and joint torque. We analyze where existing manipulator structures stand within the sampling results of the optimization and provide insights for future manipulator design.
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