Kyrylovych V. Automated synthesis of robotized mechanical assembly technologies

The main idea of the thesis based on the general problem consideration of the automated synthesis robotized mechanical assembling technologies which represents solution for definite set problems of analysis and synthesis proposed so-called solvability conditions which is caused substantial statement of the general problem of synthesis. Solvability conditions determine in stages by generating a set of robotic mechanical assembly technologies parameters which are optimal in accepted sense and optimal robotic mechanical assembly technologies choosing according to selected global criteria. The sense of solvability condition determine based on general synthesis problem decomposition into components according to which the determination is performed by successive terms of the so-called functional, parametric and feasibility criterion. Meaningful definition of the conditions of solvability corresponds to the solution of the complex tasks which reproduce the functional essence of robotized mechanical assembling technologies namely the problems of routing, technical service, FMС working position service by the technological robotized set and technological interaction of industrial robot gripper with the handling object for the generation a certain structure of technological robotized set chosing optimal robotized mechanical assembling technologies from the generated and systematically caused in the previous technological stages. Global criteria caused the substantial essence of the automated synthesis task components' and it is the cost's estimation technological robotized set working off by industrial robot trajectory space moving. Proposed paradigm reflects the content of Robotized mechanical assembling technologies in flexible manufacturing cells as evolution in space and time of the technological robotized set condition and structure which is its inalienable component. Herewith technological robotized set includes industrial robots' grippes, handling objects, working position equipments. Taking into account technological robotized set the term "trajectory" transforms into "trajectory space" which is considered as moving track for the definite rule and definite technological robotized set's structure which is motion for the specified rule of all technological robotized set points' trajectories.