engleski

WELDING ROBOTS KINEMATIC STRUCTURES EVALUATION OF BASED ON CONCEPTUAL MODELS USING THE POTENTIAL METHOD

The article presents a new systematic approach to evaluate kinematic structures of the robot for welding in the application of certain conceptual solutions in different welded forms of product design. Generated conceptual solutions of the welded structure are independent of the eight kinematic structuremodels of the robots. Conceptual solutions of welded structures are defined according to the possibility of their practical performance as shown in models of product design in welded form. Five groups of welded structures have been analysed with three characteristic examples in each group of products designed at the conceptual level (such an approach makes 15 varieties of solutions) in the form of welded structures. In the paper we shall described a new model of evaluation by the application of the Potential method (one of the decision making tools) as appropriate choice for the concept of kinematic structures of robots for welding in welding technology of steel structures. Selection is carried out based on the list of requirements with twelve independent parameters. These parameters must define the welding robot in fifteen models of welded structures. List of requirements is determined by types of design products (fifteen variant solutions) in welded form. The originality of the proposed evaluation procedure lies mainly in special application of the potential method for evaluating weight factors of kinematic structures of welding robots based on conceptual welded forms of product design.Amodel for linking a criteria and alternatives of kinematic structures for robot welding is also shown and described. Introduced is the model to determine the criteria to evaluate kinematic structures according to the criteria for welding the fifteen models of welded structures. These two sets of parameters (parameters of the set of kinematic structures and the set of welded forms of product design) make possible the estimation acceptability for application. In the article is calculated the weighted value of solutions of kinematic structures of welding robot that fully satisfies the theoretical settings and/or practical variants solution of a robot with the highest technical performance. Moreover, in order to implement a thorough evaluation process such as decision making based on defined list of requirements in examples in this paper, we suggest and show the procedure that can serve as a procedure for evaluation of other systems for the same purpose using the Potential method.

Product design; robot; welding; evaluation; Potential method

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