Towards Feature-based Human-robot Assembly Process Planning

Kardos, Csaba; Kovács, András; Váncza, József

doi:10.1016/j.procir.2016.11.089

Cited by 20 publications

(4 citation statements)

References 14 publications

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“…Both can have variations to be handled during production (e.g., alternative components or subassemblies). Even an unambiguous set of components can have multiple orders of assembly [17], and the particular choice may depend on actors and resources at hand. A systematic approach to constructing a symbiotic HRC environment can be understood as a series of analysis and synthesis steps starting with a formal description of tasks, agents and premises, proceeding towards a feasible solution in a partly automated way, while providing the possibility of reiteration and introduction of implicit knowledge at points of manual intervention into the elaboration process.…”

Section: Symbiotic Hrc Structure In Assemblymentioning

confidence: 99%

“…5 bottom right), while the planning and worker assistance are powered by the private cloud in the backend. The assembly plans are validated by geometric reasoning [17]. At this stage of implementation, the main contribution is to validate the feasibility of transforming conventional industrial robotic cells into collaborative environments based on the symbiotic system architecture discussed in section 3.…”

Section: Implementation and Case Studymentioning

confidence: 99%

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Human–robot collaborative assembly in cyber-physical production: Classification framework and implementation

et al. 2017

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The production industry is moving towards the next generation of assembly, which is conducted based on safe and reliable robots working in the same workplace alongside with humans. Focusing on assembly tasks, this paper presents a review of human-robot collaboration research and its classification works. Aside from defining key terms and relations, the paper also proposes means of describing human-robot collaboration that can be relied on during detailed elaboration of solutions. A human-robot collaborative assembly system is developed with a novel and comprehensive structure, and a case study is presented to validate the proposed framework.Assembly, man-machine system, human-robot collaboration

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Section: Symbiotic Hrc Structure In Assemblymentioning

confidence: 99%

Section: Implementation and Case Studymentioning

confidence: 99%

Human–robot collaborative assembly in cyber-physical production: Classification framework and implementation

et al. 2017

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“…Zhang et al 23 introduced a reinforcement learning method for automatic positioning and fastening of product modules to enable an automatic operation for improved efficiency and accuracy of the mechanical product assembly. Focused on features, Kardos et al 24,25 proposed generic approaches to automated robotic assembly process planning with a feature-based model of the assembly process, and assembly planning that combined individual tasks into an optimal assembly plan subject to technological and geometric constraints. Sheng et al 26 proposed a rapid virtual assembly system based on the smart recognition of assembly features, simplifying the assembly process, increasing the assembly design efficiency, and reducing the workload and operational complexity.…”

Section: Related Previous Workmentioning

confidence: 99%

A feature-based assembly information modeling method for complex products’ 3D assembly design

Wang

Zhang

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part B:

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During the assembly design of complex products, the process data management is disordered and the data expression is not standardized, and depends mainly on the experience of technical personnel resulting in a lack of unified data source, low design efficiency, and low automation. This paper proposes a feature-based assembly information model to address these problem, providing standardized original design data for complex product 3D-assembly design. Taking the geometric feature of the mating faces as the study object, the overall structure of complex products and the information requirements of each assembly design stage were analyzed to construct the assembly feature information model. By focusing on the composition and expression form of information in the assembly feature information model, a geometric feature classification criterion applicable to assembly design is presented, and the matching rules of feature pairs, assembly relationship, and assembly constraint instructions are established. Based on these, assembly design information is extracted and expressed in a standardized form. As a validation, the modeling method was conducted on a marine diesel engine cylinder cap as a case study; the performance and applicability of the established rules and the extraction and expression methods were verified through the comparison with the assembly process of the cylinder cap.

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“…Following the approach proposed earlier in [16], the investigation of potential collisions is performed in two steps: (i) for the core movement captured by the assembly feature, and (ii) for the approach of the moved parts and the tool to the region of interest. In both cases, collision detection is performed using the Flexible Collision Library (FCL) [17] on the triangle mesh models of the involved objects.…”

Section: Sub-problem: Collision Detectionmentioning

confidence: 99%

Decomposition approach to optimal feature-based assembly planning

2017

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The paper proposes a generic approach to assembly planning where individual tasks, with detailed technological content specified by features, must be combined into an optimal assembly plan subject to technological and geometric constraints. To cope with the complexity and variety of the constraints that refer to the overall assembly process, Benders decomposition is applied. The macro-level master problem looks for the optimal sequencing and resource assignment of the tasks, while sub-problem modules ensure plan feasibility on the micro-level from aspects of technology, fixturing, tooling, and collision. Constraints are also dynamically generated for the master problem. The approach is demonstrated in automotive assembly.

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Towards Feature-based Human-robot Assembly Process Planning

Cited by 20 publications

References 14 publications

Human–robot collaborative assembly in cyber-physical production: Classification framework and implementation

Human–robot collaborative assembly in cyber-physical production: Classification framework and implementation

A feature-based assembly information modeling method for complex products’ 3D assembly design

Decomposition approach to optimal feature-based assembly planning

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