A generalised approach to the temporal optimisation cycle of an assembly/disassembly mechatronics line served by mobile robot with manipulator

摘要

This paper deals time cycle optimisation for a hybrid systems composed of repetitive tasks. In this respect it is proposed a generalised Synchronized Hybrid Petri Nets (SHPN) models used in modeling and control of an Assembly/Disassembly Mechatronics Line (A/DML), with “n” workstations, served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The SHPN model is a hybrid type, where A/DML is the discrete part and WMR with RM is the continuous part. Moreover, the model operates as a synchronized with signals from sensors. The disassembly process starts after the assembly process and final piece fails the quality test, in order to recover the parts. The WMR with RM is used only in disassembling process, in order to transport the parts from the disassembling locations to the storage locations. Thus, the A/DML becomes reversible. Disassembly time cycle optimization requires to calculate the optimal WMR speed in order to minimize the travel duration between workstations. Using a LabView platform and A/DLB and SHPN models, get a real-time control structure.