Selection of Robot Drive System using Analytical hiercy Proess Method

Abstract The aim of the present work is to present application of Analytical Hierarchy Process (AHP) for selection of optimal Selection of Robot Drive System. Durin the selection process of robot !rive system" !etermination of the wei hta e between robot !rive system selection criteria an! between its alternative is essential an! !ecisive step. The analytical hierarchy process (AHP) has been use! in wei htin the importance between robot !rive system selection criteria. A hierarchical structure is constructe! for the robot !rive alternatives an! its selection criteria. #ne e$ample is illustrate! to !emonstrate the selection of optimal robot !rive system alternative usin Analytical hierarchy proces s.

Keywords: Optimization,Robot,AHP Method,Drive System

1.Introduction An in!ustrial robot is a pro rammable device which is sed to move materia!s, parts, too!s, or specia! devices thro "h variab!e pro"rammed motions #or the per#ormance o# a variety o# tas$s. An in!ustrial robot consists of a number of ri i! links connecte! by %oints of di##erent types, contro!!ed and monitored by a comp ter %&'. The links of the robots shi#ts abo t the prescribed a(is by "ettin" power thro "h the drive system or act ators. )he movement prod ced may be trans!ator in nat re or rotary abo t a *oint. At the *oint the act ators provide re+ ired #orce or tor+ e #or the movement o# the !in$s. )he movement o# a!! the !in$s combined to"ether #orm the arm end or wrist motion. )he so rce o# power #or the act ators can be thro "h the compressed air, press rized #! id or the e!ectricity, based on which they are $nown as Pne matic drive, Hydra !ic drive and ,!ectric drive respective!y %&'. &enerally the power so rces sed to operate the robots are Hydra !ic drive, ,!ectric drive and Pne matic drive. The !esi ners an! users have a multiple choices of robot !rive system an! the final selection shoul! be base! upon an application re'uirements. Hence" robot !rive system selection is an important task for the !esi ner. #nce" application of robot !rive will be finali(e! then !esi ners shoul! focus on the consi!eration of robot !rive system.The main re'uirements of oo! robot !rive system are that it must have satisfactory power to wei ht ratio" reliability" accuracy an! response" compliance" etc. Hence" selection of robot !rive system can be consi!ere! as multi criteria !ecision makin problem. The main ob%ective of the present stu!y is to implement the Analytical hierarchy process (AHP) metho! for selection of optimal robot !rive system for a iven in!ustrial application.

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