Kravchuk A. Multilevel system of initial design of collaborative robotic mechanical assembly technologies

The dissertation is devoted to solving an urgent and important scientific and applied problem of increasing the efficiency of technological training at the initial stages of designing collaborative robotic mechanical assembly facilities. The content of the dissertation research is outlined in four chapters, in which the main results of the work are presented and substantiated. The introduction substantiates the relevance of the dissertation topic, formulates the purpose and objectives of the study, describes the research methods, provides information on the scientific novelty and practical significance of the results, their testing and publications. The first section analyses the current state of collaborative robotic technologies. The available information sources on the application of collaborative robotic technologies in production are analysed. The paradigm of development of robotic technologies in terms of their transition from "classical" to collaborative ones is highlighted. The second section develops a methodological support for the system for determining the level of collaboration in technological robotic systems of human-robot in the form of a three-level approach, consisting of the strategic level L1, the tactical level L2 and the executive level L3. The proposed three-level approach is described using a formalised representation and SADT diagrams, which are divided into the above levels by blocks. Each block is described in detail and its information links with other blocks are identified. The methodology for making technological decisions in the advance design of CRT, namely, conducting an expert survey of MAI in the implementation of the three-level approach, is presented, namely, MAI and its use for the proposed approach are described. The hierarchy diagrams for the implementation of MAI at the strategic level L1 and the tactical level L2 are developed and presented. An expert survey of MAI was carried out to: determine the possibility of introducing CRT into production at the strategic level L1; distribute tasks between humans, robots and equipment at the tactical level L2.1; determine the type of human-robot interaction at the tactical level L2.2. The obtained results are graphically represented by bar and pie charts that visualise information about the results obtained. The article highlights the developed methodology for metric certification as a necessary component of the implementation of the L3 executive level. The proposed methodology involves the step-by-step performance of certain operations with 3D models of CRC and OM in specialised software products, namely, preparation and configuration of the 3D model and virtual environment (workspace), repeated solution of the inverse kinematics problem, saving and visualisation of the obtained research results. The third section develops information support for the implementation of the methodological support proposed in section 2. The information base is presented and its components are described. The information support for the certification of the metric of the manipulation system of collaborative industrial robots is highlighted. Chapter 4 develops a generalised algorithm for implementing the methodology for making technological decisions based on MAI for the proposed three-level approach to the advance design of collaborative robotic mechanical assembly technologies, which complements and expands the description of the developed and proposed methodological and information support, which are covered in Chapter 2 and Chapter 3, respectively. The above algorithms cover the implementation of the strategic level L1, tactical level L2 and executive level L3. A generalised algorithm of MAI operation for making technological decisions in the advance design of collaborative robotic mechanical assembly technologies is presented on the basis of existing methodological developments described in Section 2.2.1. On the basis of the proposed methodological support described in Section 2, the general algorithm of the process of certification of the manipulation system metric of collaborative industrial robots as a meaningful and necessary component of the implementation of the L3 performance level is highlighted.