Isotropic design optimization of robotic manipulators using a genetic algorithm method

In this paper, the kinematic isotropy has been considered as the performance evaluation criterion for optimal design of robotic manipulators. The Global Isotropy Index or GII has been used as the measure of isotropy, which is based on the robot's behavior in its entire workspace. A "Genetic Algorithm" has been developed to solve the minimax optimization formulation of robot design in order to find the optimal design parameters such as link lengths of the best isotropic robot configurations at optimal working points of the end-effector. Later, the algorithm is implemented to optimize globally throughout the whole robot workspace. The method has been demonstrated for 2 DOF robotic manipulators.