The profitability of any assembly robot installation dependson the production throughput, and to an even greater extent on incurred costs. Most of the cost comes from manually designing the layoutand programming the robot as well as production downtime. With ever smaller production series, fewer products share this cost. In this work,we present the dual arm assembly program as an integrated routing andscheduling problem with complex arm-to-arm collision avoidance. Wealso present a set of high-level layout decisions, and we propose a unifiedCP model to solve the joint problem. The model is evaluated on realistic instances and real data. The model finds high-quality solutions in shorttime, and proves optimality for all evaluated problem instances, whichd emonstrates the potential of the approach. ; QC 20200921
Scheduling of Dual-Arm Multi-Tool Assembly Robots and Workspace Layout Optimization
2020-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
Communication Between Human and Robots Within a Collaborative Workspace
Springer Verlag | 2021
|WORKSPACE ANALYSIS AND OPTIMIZATION OF THE PARALLEL ROBOTS BASED ON COMPUTER-AIDED DESIGN APPROACH
BASE | 2020
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