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A Structure-Actuation Co-Design Framework for All-Electric Heavy-Duty Robotic Manipulators

This paper proposes a hybrid discrete-continuous multi-objective bilevel framework for the structure-actuation co-design of all-electric heavy-duty robotic manipulators: the upper level optimizes geometry and actuation topology, while the lower level searches for feasible configurations of motors, gearboxes, and screws for each joint. A system-level coordinator selects actuator packages based on hardware mass, co-design cost, and loss-aware supply energy, and feeds the resulting actuator masses back into the robot model until mass consistency is reached.

Part of the event: Structure–Actuation Co-Design Framework for Fully Electric Heavy-Duty Robotic Arms

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