2. Prototype design

From the very beginnings of robotics, engineers have constantly adapted their designs to the technologies available. In the case of robots, when we talk about technology, we mainly mean actuator, computer or materials technology. A glance at the history of robot catalogs shows that, for the same robot morphology, the increased power of electric motors and their miniaturization initially made it possible to replace hydraulic motors, then to simplify and reduce the number of parts by eliminating parallelograms or balancing weights. On another front, the increasing power of computing resources has made it possible to design more complex mechanical structures and integrate dynamic models. Thus, from simple mechanical structures such as Cartesian or anthropomorphic robots, we have seen the emergence of robots with so-called parallel mechanical structures, such as Gough-Stewart platforms...