中文摘要：

将多学科设计优化思想应用于机器人系统的设计问题。首先介绍了协同优化算法的主要思想与框架，然后以二自由度机器人的设计为例，着重研究用协同优化算法完成机器人的运动学、静力学、动力学与控制学的多学科设计优化。优化结果证明了协同优化算法解决复杂机器人系统多学科设计优化问题的有效性，为解决更为复杂的机械系统的设计优化问题奠定了基础。

英文摘要：

The prupose of this paper is to apply the idea of multidisciplinary design optimization to the design of robot system. The main idea and frame of collaborative optimization are introduced. The design of 2-DOF robot is used as a test problem. The key issue of the investigation is how to execute collaborative optimization of Kinematics, Structural mechanics. Dynamics and Controls. The numerical results indicate that the collaborative optimization can be successfully applied to dealing with the complex robot system, and lay a foundation to solve more complex mechanical system.