Integrated approach for multi-robot spot-welding cell design and welding-point allocation (Articolo in rivista)

Type
Label
  • Integrated approach for multi-robot spot-welding cell design and welding-point allocation (Articolo in rivista) (literal)
Anno
  • 2014-01-01T00:00:00+01:00 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi
  • 10.4028/www.scientific.net/KEM.572.648 (literal)
Alternative label
  • Pellegrinelli, S.; Pedrocchi, N.; Molinari Tosatti, L.; Tolio, T. (2014)
    Integrated approach for multi-robot spot-welding cell design and welding-point allocation
    in Key engineering materials; Trans Tech Publications, Uetikon-Zurich (Svizzera)
    (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
  • Pellegrinelli, S.; Pedrocchi, N.; Molinari Tosatti, L.; Tolio, T. (literal)
Pagina inizio
  • 648 (literal)
Pagina fine
  • 651 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroVolume
  • 572 (literal)
Rivista
Note
  • ISI Web of Science (WOS) (literal)
  • Scopu (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
  • Institute of Industrial Technologies and Automation (ITIA), National Research Council of Italy (CNR), Via Bassini 15, 20133, Milano, Italy; Institute of Industrial Technologies and Automation (ITIA), National Research Council of Italy (CNR), Via Bassini 15, 20133, Milano, Italy; Institute of Industrial Technologies and Automation (ITIA), National Research Council of Italy (CNR), Via Bassini 15, 20133, Milano, Italy; Institute of Industrial Technologies and Automation (ITIA), National Research Council of Italy (CNR), Via Bassini 15, 20133, Milano, Italy (literal)
Titolo
  • Integrated approach for multi-robot spot-welding cell design and welding-point allocation (literal)
Abstract
  • The design of multi-robot cells for spot welding influences the feasibility and complexity of the multi-robot motion planning. In comparison to existing literature, the proposed approach simultaneously addresses: (i) the design of multi-robot cells for spot welding; (ii) the allocation of the welding points to the robots on the basis of required cell cycle time. First, the algorithm selects one robot model and one robot fixturing structure. Second, the approach identifies free trajectories among welding points for each couple \"gun/position of the robot in the fixturing structure\" through probabilistic roadmaps (PRMs). Third, on the basis of the previous results, an innovative mathematical model selects and allocates the resources taking into account cell investment costs. Finally, the solutions that differ on robot model and robot fixturing structure are compared and the best solution is selected. A test case is provided to show the applicability of the approach. (literal)
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