Assembly procedure generation for reconfigurable robot cells considering operation concurrency and geometrical constraints

The paper concerns the automated generation of optimized machine assembly procedures for reconfigurable robot cells (RRCs). RRCs are built from individual modules resulting in many possible structural configurations. For the optimization of production performance, assembly procedures must be generat...

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Bibliographic Details
Main Authors: Ungen, Marc, Huber, Elias, Kampert, David, Riedel, Oliver
Format: Conference Proceeding
Language:English
Subjects:
Assembly
Concurrent computing
Manuals
Optimization
Planning
Productivity
Robot motion
Robots
Sequential analysis
Synchronization
Online Access:Request full text
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Summary:The paper concerns the automated generation of optimized machine assembly procedures for reconfigurable robot cells (RRCs). RRCs are built from individual modules resulting in many possible structural configurations. For the optimization of production performance, assembly procedures must be generated to estimate objectives like productivity or cycle time. However, generating machine procedures is currently subject to manual planning and optimization which requires considerable time and effort. This leads to the investigation of few configuration concepts and thus poor optimization. The main contribution is a simulation-based approach to generate assembly procedures for RRCs. The approach solves the combinatorial problems of robot task assignment and assembly process sequencing jointly. The generation process minimizes the procedure duration by exploiting temporal concurrency while ensuring the geometrical feasibility of the individual robot motions. The paper further presents experimental results from a conducted case study with different RRC configuration concepts, robot synchronization and batch processing modes. The results reveal that significant production speedups can be achieved.
ISSN:2161-8089
DOI:10.1109/CASE59546.2024.10711657