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.

翻译：迄今为止，已开发出各种六自由度（DOF）和七自由度机械臂。在漫长的历史中，其关节构型与连杆长度比通常依据经验确定。近年来，机器人基础模型的发展日益活跃，为支撑这些模型，各类机械臂构型不断被提出。然而，由于关节顺序与连杆长度比例存在差异，这些机械臂的结构均不完全相同。因此，为探讨机械臂的最优结构，我们从末端执行器可达性与关节力矩两个角度进行了多目标优化。我们分析了现有机械臂结构在优化采样结果中所处的位置，并为未来机械臂设计提供了见解。