Abstract
Flat lapping is a crucial process in a number of precision manufacturing technologies. Its aim is to achieve extremely high flatness of the workpiece. Single-sided lapping machines have usually standard kinematic systems and are used in conjunction with conditioning rings, which are set properly between the centre and the periphery of the lapping plate. In this paper, instead of conventional single-sided lapping machine, an automated lapping cell is introduced. The object of the robotic lapping system is to provide improved means for controlling the position of conditioning rings on lapping plate, so as to enable the flatness of the plate and consequently of the workpieces to be controlled. What is more, this innovative solution allows to fully automate a single-disc lapping process. Selection of a robot is one of a number of challenges in designing automated manufacturing systems. This problem has become very demanding due to the increasing specifications and the complexity of the robots. This study aims to solve a robot selection difficulty for conditioning ring positioning, workpieces handling and loading tasks in the lapping cell. For this reason, analytic hierarchy process (AHP), which is one of the multi-criteria decision-making (MCDM) methods, is used to select the most convenient robot.
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Piotrowski, N., Barylski, A. (2016). Multi-criteria Robot Selection Problem for an Automated Single-Sided Lapping System. In: Awrejcewicz, J., Kaliński, K., Szewczyk, R., Kaliczyńska, M. (eds) Mechatronics: Ideas, Challenges, Solutions and Applications. Advances in Intelligent Systems and Computing, vol 414. Springer, Cham. https://doi.org/10.1007/978-3-319-26886-6_1
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DOI: https://doi.org/10.1007/978-3-319-26886-6_1
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