Multi-robot Spot-welding Cell Design: Problem Formalization and Proposed Architecture☆

Abstract The multi-robot cell design for car-body spot welding is faced by industry as a sequence of tasks, where researches are focused on issues of the problem as a whole. In authors’ knowledge, none work in literature have suggested any formalization for the complete process. This paper tries to bridges the gap proposing coherent process formalization, and presenting a corresponding innovative architecture for the automatic optimal cell design. Specifically, the formalization involves the identification and allocation of the resources in terms of a set of decisional variables (e.g. robot model/positioning/number, welding gun models/allocation/number, welding point allocation etc.); then, the design optimization process minimizes the investment costs granting the cycle time. The multi-loop optimization architecture integrates both new algorithms and existent procedures from different fields. Test-bed showing its feasibility is reported.