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The rapid development of industrial robotics has provided an opportunity for the greater efficiency of aircraft manufacturing industry. But the complexity of work environment is a great challenge to robot's practical application. This paper describes a method of designing and positioning multi-robot workcells which are used to manufacture large sur...
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Computer numerical control (CNC) and robotic welding have long been applied to industrial manufacturing in production lines. This paper introduces optimal control to layout the maneuvering sequence for a five-linked manipulator arm. Two- point boundary-value problem (TPBVP) is inevitable in most of the dynamic optimal control problem. Direct colloc...
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... However, none of the previously mentioned studies has extensively referred to multi-robot cells, which is of utmost importance for today's welding operation in automotive industries [16]. One of the first studies considering this aspect was Tao and Liu [17]. Two robots were considered for the automatic riveting operation on the outer surface of an aircraft fuselage panel. ...
... Two robots were considered for the automatic riveting operation on the outer surface of an aircraft fuselage panel. The idea of this study was to maximize the overlapped region of the two robots in a collision-free manner so that the optimal placement of those robots could be achieved for a given three-dimensional space [17]. The research of Papakostas et al. [18] also examined the potential usage of dual robot work cells through simulation tools in terms of Body-in-White (BIW) assembly cells for automotive industries. ...
... Additionally, [30] presented work on the optimisation of multi-robot work cell layout in a vertical section plane which was used to manufacture the outer surface of a large fuselage panel. The purpose of this work was to maximize the overlapped workspace of two robots without having a collision between the robots and work pieces. ...
... However, many issues have arisen and need to be taken into account in order to make further improvements in the future. The raised issues are the configuration time [24,26,30,34], human involvement [6,24,26,28,30] and some other investments like workspace, costs, or automatic creation [23,25,29,32,33,35]. In this work, we propose a robot work cell configuration concept which is simple and easy to understand by end users. ...
... However, many issues have arisen and need to be taken into account in order to make further improvements in the future. The raised issues are the configuration time [24,26,30,34], human involvement [6,24,26,28,30] and some other investments like workspace, costs, or automatic creation [23,25,29,32,33,35]. In this work, we propose a robot work cell configuration concept which is simple and easy to understand by end users. ...
This paper describes developmental work on a multi-shaped layout approach for configuring robot work cells in the future. The idea is to configure robot work cells based on the total number of robots and its variations of layouts. At present, the multi-shaped layout of robot work cells is developed by joining two or more robot work cells in the form of a square-shaped layout based on several constraints and conditions. Data on the probable multi-shaped layouts of robot work cells have been tabulated, and the complexity of data for each configuration was compared. Afterward, the configuration with the least complexity was selected to be the optimum configuration concept. As a result, a configuration pattern with a mathematical relation between the number of robots and the number of possible multi-shaped layouts was able to be extracted using MATLAB. The details regarding the development phases of this work are presented. The primary purpose of this work is to provide a configuration concept of robot work cells for assisting system design engineers in configuring robot work cells which could enhance configuration time, minimise human and expert involvement, and capitalise available investment resources in future. This developmental outcome is relevant for inline configurations of robot work cells. The currentoutcomes of this work provide a basic concept for future investigation on developing a flexible configuration system for multiple robot work cells.
... However, from research results in the literature, the layout of the impact of stiffness is often omitted. In a multi-robot workcell, Long Tao (Tao and Liu, 2011) proposed a method which defined the work space of a robot as a sector region and transformed the layout problem into a nonlinear programming problem. The study described in (Zhang and Qi, 2008) and in (Jian and Ai, 2009) focused on the layout optimization for a robot workcell based on the genetic algorithm and virtual engineering method, respectively. ...
In a robot grinding system, the change of the robot's pose affects the overall stiffness of the whole machining system, which indirectly leads to the irregularity of the grinding surface. For this purpose, we propose a method to enhance the stiffness of the robot. The robot grinding system layout is usually based on the experience of the designer without any quantitative selection criteria. With the introduction of the stiffness performance evaluation index, we decouple the stiffness-couple relationship between the robot pose and layout of the robot system and calculate the value of the stiffness index for evaluating the performance of each layout point as a quantization selection basis. Using Rayleigh quotient as the stiffness performance evaluation index for the manipulator, we obtain a relationship between the stiffness performance and the installation position of the grinding tool. Based on the chosen layout point, we proposed the length of the semi axis along the direction of the grinding force in the stiffness ellipsoid as the optimization objective and obtain the optimal configuration in the entire processing workspace through a genetic algorithm method. Theoretical and numerical simulation is presented to demonstrate the effectiveness of the proposed approach. The results demonstrate that the optimization improves the stiffness performance significantly.
... The problem has been also addressed as "the facility layout problem" [1], [2] and [3]. The HRC task allocation and coordination has also received the researchers' attention [8], [9], [10], [11], [12], [13], [14] and [15]. The role of Digital Human Models (DHMs) has been also examined for the ergonomics analysis and workplace design [16]. ...
The Human Robot Collaborative (HRC) workplace design and the automatic task allocation can significantly decrease the time of a new set-up or a cell's reconfiguration. This paper proposes a method for an HRC workplace layout generation and the preliminary assignment of human and robot tasks. A decision making framework is proposed in order for the location of all components in the available layout space to be decided upon. The evaluation of the alternative HRC workplace layouts is based on multiple criteria. The system has been integrated with a user interface into a 3D simulation tool and tested on an automotive industry case study.
Integrated in-situ partition manufacturing mode of large cabins based on the mobile serial robots is adopted for machining tasks of outboard local features currently. However, the existing partition criteria of large-scale components only consider the geometric features and structure, ignoring the dimensional correlations of local features and the effective workspace of serial robots. This tends to cause that features with the same dimensional correlation are divided into different sub-regions, resulting in extra machining adjustment which reduces the machining efficiency. Aiming at the machining partition problem for local features of the large cabin, a machining partition method is proposed for local features with dimensional correlations of the large cabin based on clustering. Considering positions and dimensional correlations of local features, a multi-objective optimization model of partition based on clustering validity indexes is established to pre-solve partition schemes. To solve the reachable region of the large cabin, the effective workspace of serial robots is taken into account. With the reachable region as the constraint and the machining efficiency as the decision basis, the optimal partition scheme for local features of the large cabin is determined. The contrast validation is conducted on a reference cabin. The results indicate that the proposed method both satisfies the dimensional correlations of local features and the effective workspace of serial robots, which improves the machining efficiency. This research provides significant machining partition bases for robot machining in the integrated in-situ partition manufacturing mode of large cabins.
The machines that perform manufacturing processes are the embodiment of these processes. This chapter discusses AI topics related to manufacturing equipment, automation, and robots. There is a wide range of problems requiring decision-making at the machine level, including the selection of the most appropriate type of machine for processing one or more parts, the identification of parameters for the machine’s kinematic and dynamic models, the calculation of the optimum tool path, the selection of control strategy and gains. More specifically, the chapter examines (i) AI for manufacturing equipment definition—design—selection, (ii) task planning and machine programming, (iii) machine control and workstation orchestration and (iv) machine perception. For each topic the scope and the theoretical background is initially provided and then selected cases of AI applications are discussed. This chapter takes a deep dive into AI solutions for industrial robotics that are being widely used since their introduction in the manufacturing systems in the second half of the twentieth century.
Configuration work of manufacturing systems is a very tedious process that relies on how a system is determined and the experience of the person involved. The process will be more complicated when it involves work cell contains automation component such as industrial robots. Configuring an optimal robot work cell has become active research in recent years where most of the work aims to provide a quality configuration system. This paper exhibits the work on delivering probable optimal layouts of robot work cell with its mathematical models. The primary purpose of this work was to provide a rapid configuration process which is the optimal layout, Lopt of robot work cell would be determined based on the developed mathematical models. The probable optimal layouts are constructed under the columns configuration from the variant-shaped configuration. Workspace area, and manufacturing throughput time, equation of the probable optimal layouts have been developed and discussed in this paper where it is capable of determining the optimal robot work cell with minimal workspace area, and manufacturing throughput time,. The model provides a potential probable solution to the current requirements before configuration work. This work provides a basis for future investigation in developing a computer-based configuration system.
