Base part centered assembly task precedence generation

The recognized potential of cobots for industrial applications has been motivating a growing body of literature. As further research uncovers new potential applications, cobots are permeating into more more complex industrial applications. The inherent safety of cobots enables them to work at multip...

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Bibliographic Details
Published in:International journal of advanced manufacturing technology 2020-03, Vol.107 (1-2), p.607-616
Main Authors: Mateus, João Costa, Claeys, Dieter, Limère, Veronique, Cottyn, Johannes, Aghezzaf, El-Houssaine
Format: Article
Language:English
Subjects:
Algorithms
Assemblies
Assembly
Assembly lines
CAE) and Design
Collaboration
Computer-Aided Engineering (CAD
Engineering
Identification methods
Industrial and Production Engineering
Industrial applications
Mechanical Engineering
Media Management
Original Article
Robots
Safety
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Summary:The recognized potential of cobots for industrial applications has been motivating a growing body of literature. As further research uncovers new potential applications, cobots are permeating into more more complex industrial applications. The inherent safety of cobots enables them to work at multiple levels of autonomy in close proximity with human operators. While this opens a range of new possibilities for human-robot collaboration, it also requires a different approach to assembly sequence generation. Most assembly sequence generation methods lack the flexibility to consider assembly tasks concurrently performed by operator and cobot. By splitting the products into sub-assemblies, the focus of both robot and human can be divided over multiple sub-assemblies assembled simultaneously or centered into a single sub-assembly for mutual assistance. In this paper, an algorithm for the identification of assembly task precedence is presented. Unlike most previous methods, by identifying sub-assemblies, their assembly precedence and that of their comprising parts, parallel task execution is not hindered by rigid linear assembly sequences. The output of the proposed algorithm allows for the creation of collaborative assembly sequences embedding resource capability, collaborative workplace design, and safety considerations. The proposed algorithm uses liaison and collision matrices as input as well as base part and sub-assembly content.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-019-04864-y