Industrial applications with cooperating robots for the flexible assembly

Papakostas, Nikolaos; Michalos, George; Makris, Sotiris; Zouzias, Dimitris; Chryssolouris, George

doi:10.1080/0951192x.2011.570790

Cited by 66 publications

(42 citation statements)

References 17 publications

(20 reference statements)

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“…These include: tool connection/disconnection (1,8), ball insertion (2, 3, 7), joint pivoting (4, 5), vision triggered emergency stop (6), and joint manual unmounting (9,10).…”

Section: Resultsmentioning

confidence: 99%

“…Various researchers have looked into this. Papakostas et al [8] discuss the key features of cooperating robotic cells in automotive assembly, and provide simulated comparisons of two scenarios: a conventional welding robotic cell, and one with cooperating robots. The authors of [9] assess five alternative safety designs, covering both hardware and control design, of a human-robot collaboration prototype cell for cable harness assembly.…”

Section: Research On Human-machine Cooperation In the Industrymentioning

confidence: 99%

“…Third, we define the start point of step 2, noted P for pivoting cage point. Point P is obtained by projecting P teach first on the sphere (7), and then on the plane (8). This way, it is possible to define the F S frame axes: Z is parallel to line (SP ) and pointing towards S, X is parallel to plane normal [a b c] and pointing to the right of the operator, and Y completes the frame.…”

Section: Manual Execution and Identification In The Operational Spacementioning

confidence: 99%

See 2 more Smart Citations

Collaborative manufacturing with physical human–robot interaction

Cherubini¹,

Passama²,

Crosnier³

et al. 2016

Robotics and Computer-Integrated Manufacturing

469

188

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Although the concept of industrial cobots dates back to 1999, most present day hybrid human-machine assembly systems are merely weight compensators. Here, we present results on the development of a collaborative human-robot manufacturing cell for homokinetic joint assembly. The robot alternates active and passive behaviours during assembly, to lighten the burden on the operator in the first case, and to comply to his/her needs in the latter. Our approach can successfully manage direct physical contact between robot and human, and between robot and environment. Furthermore, it can be applied to standard position (and not torque) controlled robots, common in the industry. The approach is validated in a series of assembly experiments. The human workload is reduced, diminishing the risk of strain injuries. Besides, a complete risk analysis indicates that the proposed setup is compatible with the safety standards, and could be certified.

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“…These include: tool connection/disconnection (1,8), ball insertion (2, 3, 7), joint pivoting (4, 5), vision triggered emergency stop (6), and joint manual unmounting (9,10).…”

Section: Resultsmentioning

confidence: 99%

Section: Research On Human-machine Cooperation In the Industrymentioning

confidence: 99%

Section: Manual Execution and Identification In The Operational Spacementioning

confidence: 99%

See 1 more Smart Citation

Collaborative manufacturing with physical human–robot interaction

Cherubini¹,

Passama²,

Crosnier³

et al. 2016

Robotics and Computer-Integrated Manufacturing

469

188

View full text Add to dashboard Cite

show abstract

“…A representative paradigm is that according to statistical analysis, in electrical industries, the assembly workers' wages can reach up to 60% of the total wages (Eng et al 1999). Even in the case of robotic assembly performance, alternative sequences should be evaluated in order to optimise the processes in terms of time and cost (Papakostas et al 2011). This number illustrates the importance of optimising manual assembly plans and their generation/design in an industry that is gradually moving towards mass personalisation.…”

Section: Introductionmentioning

confidence: 99%

Assembly precedence diagram generation through assembly tiers determination

Pintzos

Triantafyllou

Papakostas

et al. 2016

International Journal of Computer Integrated Manufacturing

Self Cite

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The extraction of assembly information from product data has been researched for the past three decades, mainly due to the advancements in computer performance and CAD-related software. However, the manipulation and processing of CAD data for the automatic generation of assembly information have only been recently researched. This paper presents a methodology for extracting assembly information from product data. The methodology is based on a novel idea of assembly tiers for the separation of parts to be assembled into groups based on their geometric characteristics. The methodology is applied as a software extension to a commercial CAD software and is demonstrated through a number of industrial case studies.

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“…Assembly sequence planning is a hot research topic in recent years, the research method can be divided into 3 kinds: graph theoretic approach [1,2,3], heuristic search algorithm [4,5], planning method based on virtual reality. If we plan an assembly sequence of a complex assembly, the first method will appear the problem of combination explosion.…”

Section: Introductionmentioning

confidence: 99%

Assembly Sequence Planning for Robotic Automatic Operation

Li¹,

Zhang²,

Wang³

2017

Proceedings of the 2017 2nd International Conference on Machinery, Electronics and Control Simulation (MECS 2017)

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Abstract. This paper has improved the traditional interference matrix, with joining the information of robotic assembly resource, which is used to search for the optimal assembly sequence. We have given a processing method of interference matrix containing the resource of the robotic assembly, which includes the decision method of geometry feasibility, method of judging the interference between two parts. By dealing with the proposed interference matrix, we define a fitness function to evaluate the value of the various assembly sequences. At last, the paper use Discrete Particle Swarm Optimization (DPSO) algorithm to search the optimal assembly sequence, which is more conformable to actually assemble by using robot.

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Industrial applications with cooperating robots for the flexible assembly

Cited by 66 publications

References 17 publications

Collaborative manufacturing with physical human–robot interaction

Collaborative manufacturing with physical human–robot interaction

Assembly precedence diagram generation through assembly tiers determination

Assembly Sequence Planning for Robotic Automatic Operation

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