engleski

Evaluation model of kinematic structure of robot used in welding based on theory of graph

The aim of this paper is to develop algorithm of evaluation that can be used for assessing the acceptability of different kinematic structures of robots applied for welding of some characteristic design structures. The procedure of evaluation has to be performed by application of theory of graphs on the hierarchic structure criteria, kinematic structures of robot and design properties of structural detail as well. Due to the complexity of the problem visible in all combination's of hierarchic structures, mathematical formalization approach to the problem is necessary.

Evaluation algorithm; design process; mathematical formality; theory of graph; kinematic structures of robot; welding

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