Nowadays, Robots are used in various industries. European manufactures have improved the speed and quality of their products in stone industry by increasing the level of automation in factories and even stone mines. Unfortunately, stone industry has low advances in production or in usage of new machines in Iran. This has weekend Iran’s place in global market. In this project, a design of a robot is presented which improves production speed and decreases the wastes in the first stages of the production process. The robot traorts the stone strips, which has been cut by stonecutter machine, to the storage desk. The design is in such a way that matches the old factories in Iran and well accepted by the manufactures. Other than design of the gripper, design of the robot takes place in two phases. At the first stage, structure, actuators type, controller type and trajectory are generally determined. Structures with two, three and four degrees of freedom are considered and seven different structures are presented. Seven important criteria which have decisive effect to choose the structure are considered and by evaluating these criteria for each design candidate, the best structure is chosen. The best structure is a four degree of freedom Manipulator which has a structure similar to Scara robot. Also, a comparison between different types of actuators is presented and it is shown that permanent magnet AC motors with servo drive are the best choice to run the robot. At the second stage, defining the design parameters, an optimization problem is constructed and the optimum solution is calculated. In detail design phase, a generalized concurrent design is used. In concurrent design of mechatronic systems, structure and controller of the system are designed simultaneously. Additionary, the parameters related the trajectory planning and location of the robot are considered in the optimization problem defined in this project. In fact, robot is designed by solving a general and comprehensive optimization problem. A goal function is used to minimize the weight of the robot and torque/force needed in robot’s joints. Four design parameters are related to the structure, eleven parameters define the trajectory, twelve design parameters are related to controller and two design parameters specify the location of the robot. Eight constraints are defined to limit the position error of the end effectors, deflection of the links, and total time of the process and to prevent any collision between robot and stonecutter machine or stone block or storage desk. According to the results and using available motor catalogues, suitable actuators have been chosen and other design parameters have been calculated. Key words: Concurrent engineering, robot, stone industry, optimization, genetic algorithm
