Event

Structure–Actuation Co-Design Framework for Fully Electric Heavy-Duty Robotic Arms

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Mohammad Bahari and co-authors submitted a paper proposing a hybrid discrete–continuous multi-objective bilevel framework for the structure and actuation co-design of fully electric heavy-duty robotic arms. The upper level optimizes geometry and actuation topology, while the lower level searches feasible configurations of motors, reducers, and lead screws for each joint; a system-level coordinator selects actuator packages according to hardware mass, co-design cost, and loss-aware power supply energy, and feeds actuator mass back into the robot model until mass consistency is reached. The paper states that in an all-pose SE(3) benchmark with a 100 kg tool payload, the framework obtained 8 feasible non-dominated designs, all satisfying 12 specified poses; the actuator mass coupling of all reported designs converged within 3 iterations. The paper is a 6-page conference submission, with ICCMA 2026 as the target conference.