Designing of modular robots

In the field of projection, design and selection of proper robot, or automated system for group of tasks, is the main goal high productivity and, equally often, flexibility. Requests for robotic and automated systems began to tend to modular structure of application assemblies over time. So, it is urgent, just before solving of requested composition of structure, to define basic principles of structure, so the right solution will vary from this structure as few as possible.