Synthesis Algorithm for Industrial Robots Based on a Given Set of Modules

Abstract

One of the promising directions of robotics is the aggregate-modular method of construction of the industrial robots. The aggregate-modular method of construction of the industrial robots has many advantages. One of the positive factors of the aggregate-modular approach to construction of robots is a possibility to formalize the design process of robots. In this connection, one of the urgent tasks is development of the methods and algorithms for synthesis and analysis of the industrial robots on the basis of the aggregate-modular approach. The basic algorithm for an automated synthesis of the industrial robots is the synthesis of the structure of an industrial robot. The synthesis is performed on the basis of a model range of the standard modules, settings, operations and settings of the working environment, in which the functions of a robot are synthesized. The author proposes a recursive algorithm for a structure synthesis of the robot manipulators for building a robot based on the aggregate-modular approach. The proposed synthesis algorithm allows us to reduce the computing resources procedure required for the synthesis compared with a full search of all the possible variants and selection of the most suitable option of a robot. The results of the synthesis are converted into a format, readable by a dedicated system of simulations. This allows us to evaluate the synthesized version of the robot when performing scheduled operations in the external environment.