Design problems for machine products are generally hierarchically expressed. With conventional product optimization methods, however, it is difficult to concurrently optimize all design variables of portions within such hierarchical structures. This paper proposes a design optimization method using genetic algorithms containing hierarchical genotype representations, so that the hierarchical structures of machine system designs are exactly expressed through genotype coding, and optimization can be concurrently conducted for all of the hierarchical structures. Crossover and mutation operations for manipulating the hierarchical genotype representations are also developed. The proposed method is applied to a machine-tool structural design and a 2 DOF robot arm design to demonstrate its effectiveness.
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