Cycle time optimization of a reversible A/DML served by a mobile robotic system

This paper presents a new cycle time optimization (CTO) approach for an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM). The mobile robot serves A/DML during disassembling for transporting carry the disassembled components from disassembling locations to the corresponding storage warehouse in order to be reused. Disassembling starts if the final product fails the quality test. The cycle time results from adding up the durations of A/D sequences. Since the elementary assembly operations have constant durations (determined by the duration of the each assembly operation and the displacement duration of transporting line at constant speed, between successive workstations), the problem of cycle time optimization concerns only disassembling. During the disassembly, a repetitive sequence can be identified with a single disassembling stage served by WMR equipped with RM. In this case, an elementary cycle time (ECT) optimization is the maximum value between the following time durations: a) time duration of disassembling and transporting remaining piece towards next station; b) time duration of the RM for gripping and storage disassembled part and WMR's displacement. For the events synchronization are inserted the time intervals between: the displacement with constant speed within/between work stations and the manipulations/displacements of the robotic system. For setting time durations and joining the discrete dynamics of the mechatronics line with the continuous dynamics of the robotic system, a Synchronized Hybrid Petri Nets (SHPN) model running autonomously has been used.

[1]  James S. Albus,et al.  A Reference Model Architecture for Intelligent Hybrid Control Systems , 1996 .

[2]  G. Seliger,et al.  Innovative Processes and Tools for Disassembly , 2002 .

[3]  Kunihiko Hiraishi.  Synthesis of supervisors for discrete event systems allowing concurrent behavior , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[4]  Peter Kopacek,et al.  Intelligent Disassembly of Electronic Equipment , 1999 .

[5]  Alina Voda,et al.  Modelling and control of an assembly/disassembly mechatronics line served by mobile robot with manipulator , 2014 .

[6]  Hui Wang,et al.  Automatic generation of assembly system configuration with equipment selection for automotive battery manufacturing , 2011 .

[7]  B. Kopacek,et al.  Intelligent disassembly of electr(on)ic equipment , 2001, Proceedings Second International Symposium on Environmentally Conscious Design and Inverse Manufacturing.

[8]  Surendra M. Gupta,et al.  A balancing method and genetic algorithm for disassembly line balancing , 2007, Eur. J. Oper. Res..

[9]  Alina Voda,et al.  New approach in control of assembly/disassembly line served by robotic manipulator mounted on mobile platform , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[10]  Hassane Alla,et al.  Modeling and analysis using hybrid Petri nets , 2007, ArXiv.

[11]  W. S. Lau,et al.  ON THE AUTOMATIC GENERATION OF PRODUCT ASSEMBLY SEQUENCES , 1998 .

[12]  Adrian Filipescu,et al.  Simulated Hybrid Model of an Autonomous Robotic System Integrated into Assembly/Disassembly Mechatronics Line , 2014 .

[13]  Hassane Alla,et al.  Discrete, continuous, and hybrid Petri Nets , 2004 .