Adaptive assembly sequence planning with respect to ergonomic work conditions
Adaptive assembly sequence planning with respect to ergonomic work conditions
复制标题
根据人体工学工作条件进行自适应装配顺序规划
DOI：
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复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
C. Schlick
中科院分区：
文献类型：
--
作者：
Marco Faber;J. Bützler;C. Schlick
产品范围内的快速增长的品种需要生产公司进行大量的规划工作。为了提供更灵活的自动控制系统，开发了由认知控制单元（CCU）和基于图形的装配顺序规划器（GASP）组成的认知自动化系统。根据产品规格和存储的通用工艺知识，根据人体工程学和人机协作优化装配顺序。从而自主导出装配机器人相应的控制指令。在所提出的工作中，进行了一项模拟研究，重点是减少人类操作员和装配机器人之间的变化，以减少潜在的工作引起的应变和安全关键情况。 Stromberg 化油器模型由操作员和装配机器人使用夹具和电动螺丝刀合作组装。由于装配顺序的规划，GASP 可以显着减少人类机器人的变化。此外，机器人工具之间的变化次数可以显着减少，从而使装配过程更加透明和流畅。总之，模拟研究表明，通过 GASP 在运行时选择正确的装配顺序可以改善人体工程学工作条件。实践者总结：随着世界经济的全球化和产品种类的不断增加，生产企业最大限度地减少非增值工作至关重要。由于许多产品短期内不会完全自主组装，因此建议让人类操作员与合适的机器人配合。所提出的工作提供了证据，表明认知自动化控制系统可用于在人机合作的情况下优化人类操作员的人体工程学工作条件。
The rapidly growing variety within the product range demands extensive planning efforts from producing companies. For providing a more flexible automatic control system, a cognitively automated system consisting of a Cognitive Control Unit (CCU) and a Graph-based Assembly Sequence Planner (GASP) has been developed. Based on the product specification and the stored generic process knowledge, the assembly sequence is optimised with respect to ergonomics and human-robot cooperation. Thereby, the corresponding control commands for the assembly robot are derived autonomously. In the presented work, a simulation study was performed focusing at a reduction of the changes between the human operator and the assembly robot to decrease potential work induced strain and safety-critical situations. A model of a Stromberg carburettor was assembled cooperatively by both the human operator and the assembly robot using a gripper and a power screwdriver. Due to the planning of the assembly sequence, the GASP could achieve a significant reduction of the humanrobot changes. Moreover, the number of changes between the robotic tools could be decreased significantly resulting in a more transparent and fluent assembly process. In conclusion, the simulation study has revealed that the ergonomic work conditions can be improved by choosing the right assembly sequence at runtime by means of the GASP. Practitioner Summary: Regarding the globalised world economy and the growing variety of products in product range, it is crucial for producing companies to minimise their none value adding efforts. As many products will not be assembled completely autonomously any soon, it is advisable to let the human operator cooperate with suitable robots. The presented work provided evidence, that a cognitively automated control system can be used to optimise the ergonomic work conditions for the human operator in situations of human-robot cooperation.
DOI：
10.1002/hfm.20390
发表时间：
2014-05
影响因子：
2.4
作者：
M. Mayer;Barbara Odenthal;Marco Faber;C. Winkelholz;Christopher M. Schlick
通讯作者：
M. Mayer;Barbara Odenthal;Marco Faber;C. Winkelholz;Christopher M. Schlick