Design and simulation of assembly systems with mobile robots

Michalos, George; Kaltsoukalas, Konstantinos; Aivaliotis, P.; Sipsas, Platon; Sardelis, Andreas; Chryssolouris, George

doi:10.1016/j.cirp.2014.03.102

Cited by 31 publications

(13 citation statements)

References 9 publications

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“…At this point, the execution of the control logic with respect to the workload generation was partially manual (creation of additional task templates from Section 4.1) and partially automated (assignment of tasks to resources by the software toolintelligent algorithm) based on the model and the algorithm presented in Section 4. The main reasons for this selection are the following [13,55]:…”

Section: Case Studymentioning

confidence: 99%

“…This paper focuses on the investigation of the benefits derived from the introduction of such technologies, considering that they are already available. By integrating such units with line level intelligent control algorithms, [13] are capable of undertaking any task along the line, provided that the task requirements are met in terms of hardware.…”

Section: Introductionmentioning

confidence: 99%

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Decision making logic for flexible assembly lines reconfiguration

Michalos

Sipsas

Makris

et al. 2016

Robotics and Computer-Integrated Manufacturing

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Section: Case Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Decision making logic for flexible assembly lines reconfiguration

Michalos

Sipsas

Makris

et al. 2016

Robotics and Computer-Integrated Manufacturing

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“…Indicative examples are the works in [15] and [16], where such architectures have been investigated into so as to deal with operational assignments to mobile and stationary resources.…”

Section: Integration and Communication Architecturementioning

confidence: 99%

ROBO-PARTNER: Seamless Human-Robot Cooperation for Intelligent, Flexible and Safe Operations in the Assembly Factories of the Future

et al. 2014

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This paper presents the vision and architectures, proposed by the EU project ROBO-PARTNER. The project aspires to the integration of the latest industrial automation systems for assembly operations, in combination with human capabilities. Focus is given to combining robot strength, velocity, predictability, repeatability and precision with human intelligence and skills to get at a hybrid solution that would be involving the safe cooperation of operators with autonomous and adapting robotic systems. The main enablers are: the development of intuitive interfaces for safe human-robot cooperation (HRC), the use of safety strategies and equipment, allowing fenceless human robot assembly cells, the introduction of methods and tools for the efficient planning programming and execution of assembly operations, as well as the use of mobile robots, acting as assistants to human operators. The project also provides a more flexible integration and communication architecture by utilizing a distributed computing model along with ontology services. A pilot case from the automotive industry is used as the ground for developing and testing the aforementioned technologies.

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“…It can add up motions of joints hence enlarge the workspace of end-effector, enabling good carrying or adjusting  * Corresponding author, Email: binbin2@kth.se capability of the docking equipment. However, the serial mechanisms are easy to accumulate deformations thus reducing rigidity of the docking equipment [2][3][4][5][6]. Since small rigidity is not beneficial for carrying large and heavy aircraft parts, large numbers of serial structures are applied to build the pose adjusting platform in the current docking equipment.…”

Section: Introductionmentioning

confidence: 99%

Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction

Lian

Wang

2019

Robotics and Computer-Integrated Manufacturing

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Year unknown!] Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction [Journal name unknown!] Access to the published version may require subscription. N.B. When citing this work, cite the original published paper. Permanent link to this version:Abstract Having potentially high stiffness and good dynamic response, a parallel pose adjusting mechanism was proposed for being an attachment to a big serial robot of a macro-micro robotic system. This paper addresses its design optimization problem mainly concerning arrangements of design variables and objectives. Parameter changes during construction are added to the design variables in order to prevent the negative effects to the physical prototype. These parameter changes are interpreted as parameter uncertainty and modeled by probabilistic theory.For the objectives, both static and dynamic performances are simultaneously optimized by Pareto-based method.The involved performance indices are instantaneous energy based stiffness index, first natural frequency and execution mass. The optimization procedure is implemented as: (1) carrying out performance modeling and defining performance indices, (2) reformulating statistical objectives and probabilistic constraints considering parameter uncertainty, (3) conducting Pareto-based optimization with the aid of response surface method (RSM) and particle swarm optimization (PSO), (4) selecting optimal solution by searching for cooperative equilibrium point (CEP). By addressing parameter uncertainty and the best compromise among multiple objectives, the presented optimization procedure provides more reliable optimal parameters that would not be affected by minor parameter changes during construction, and less biased optimum between static and dynamic performances comparing with the conventional optimization methods. The proposed optimization method can also be applied to the other similar mechanisms.

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Design and simulation of assembly systems with mobile robots

Cited by 31 publications

References 9 publications

Decision making logic for flexible assembly lines reconfiguration

Decision making logic for flexible assembly lines reconfiguration

ROBO-PARTNER: Seamless Human-Robot Cooperation for Intelligent, Flexible and Safe Operations in the Assembly Factories of the Future

Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction

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