Bi-level modularity concept within a robotic assembly module of a microfactory setting

The aim of this work is to ameliorate development time and increase reconfigurability for microfactories by developing a module structure for production and assembly in order to form a layout for the production of a specific product when cascaded to each other. The module structure facilitates changes to configure the layout of the microfactory setting for the production of another product. This feature brings flexibility to the system in the sense of product design and customization of products. Each module, having its own control system, is able to perform its duty with the task units placed into it. In this work, the concept of process-oriented modules with bi-level modularity is introduced for the development of the mentioned module structure. The concept is tested with the implementation of a robotic assembly module. The realization of the assembly module includes miniaturization of task units like the parallel manipulators, transportation system in between the assembly nodes or in between different modules, and control system hardware. Visual sensor utilization for the visual feedback is also enabled for the assembly process at the necessary nodes. The assembly module is developed, and experiments are realized in order to test the performance of the module.