Modules are requisite for the realization of modular reconfigurable manipulators. The design of modules in literature mainly revolves around geometric aspects and features such as lengths, connectivity and adaptivity. Optimizing and designing the modules based on dynamic performance is considered as a challenge here. The present paper introduces an Architecture-Prominent-Sectioning (APS) strategy for the planning of architecture of modules such that a reconfigurable manipulator possesses minimal joint torques during its operations. Proposed here is the transferring of complete structure into an equivalent system, perform optimization and map the resulting arrangement into possible architecture. The strategy has been applied on a set of modular configurations considering three-primitive-paths. The possibility of getting advanced/complex shapes is also discussed to incorporate the idea of a modular library.

模块是实现模块化可重构操纵器所必需的。文献中模块的设计主要围绕几何方面和特征，如长度、连接性和适应性。基于动态性能优化和设计模块在这里被认为是一个挑战。本文介绍了一种架构突出部分（APS) 模块架构规划策略，使得可重构机械手在其操作期间拥有最小的关节扭矩。这里建议将完整的结构转移到等效系统中，执行优化并将生成的排列映射到可能的体系结构中。该策略已应用于一组考虑三原始路径的模块化配置。还讨论了获得高级/复杂形状的可能性，以结合模块化库的想法。