Modelling and control of an assembly/disassembly mechatronics line served by mobile robot with manipulator |
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| Affiliation: | 1. Department of Automation, Computer Science and Electrical Engineering, “Valahia” University of Targoviste, Bulevardul Unirii 18-20, Targoviste, Romania;2. Department of Automation and Electrical Engineering, “Dunarea de Jos” University of Galati, Street Domneasca, 47, Galati 800008, Romania;3. Grenoble Image Parole Signal Automatique (GIPSA-lab), University Joseph Fourier Grenoble 1/CNRS, UMR 5216, B.P. 46, F-38402 St. Martin d׳Heres, France;1. College of Electrical and Information Engineering, Hunan University, Changsha, Hunan Province 410082, PR China;2. Faculty of Electronics Engineering, Industrial University of Hochiminh City, Hochiminh City, Vietnam;1. University of Freiburg, Department of Psychology, Engelbergerstr. 41, 79085, Freiburg, Germany;2. Technische Universität Dresden, Institute of Vocational Education and Vocational Didactics, Weberplatz 5, 01217, Dresden, Germany;3. University of Erfurt, Department of Psychology, Nordhäuser Str. 63, 99089, Erfurt, Germany;1. School of Intelligent Systems Science and Engineering, Jinan University (Zhuhai Campus), Zhuhai, 519070, China;2. School of Computer Science, Liaocheng University, Liaocheng, 252059, China;3. Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China;4. School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA;5. Environmental and Ecological Engineering, Purdue University, West Lafayette, IN, 47907, USA;6. Department of Industrial Engineering, University of Engineering and Technology, Taxila, Pakistan;1. Department of Industrial Engineering, Pamukkale University, Kinikli Kampusu, 20070 Denizli, Turkey;2. 334 SN, Department of Mechanical and Industrial Engineering, Northeastern University, 360 Huntington Avenue, Boston, MA 02115, USA |
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| Abstract: | The aim of this paper is to reverse an assembly line using a mobile platform equipped with a manipulator. By reversibility we mean that the line is able to perform disassembly. For this purpose, an assembly/disassembly line balancing (A/DLB) and a synchronised hybrid Petri nets (SHPN) model will be used to model and control an assembly/disassembly mechatronics line (A/DML), with a fixed number of workstations, served by a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM). The SHPN model is a hybrid type, where A/DML is the discrete part, and WMR with RM is the continuous part. Moreover, the model operates in synchronised mode with signals from sensors. Disassembly starts after the assembly process and after the assembled piece fails the quality test, in order to recover the parts. The WMR with RM is used only during disassembly, to transport the parts from the disassembling locations to the storage locations. Using these models and a LabView platform, a real-time control structure has been designed and implemented, allowing automated assembly and disassembly, where the latter is assisted by a mobile platform equipped with a manipulator. |
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| Keywords: | Assembly/disassembly mechatronics line Balancing Wheeled mobile robot Robotic manipulator Petri nets |
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