Modelling and control of an assembly/disassembly mechatronics line served by mobile robot with manipulator

摘要

The aim of this paper is to reverse an assembly line using a mobile platform equipped with a manipulator. By reversibility we mean that the line is able to perform disassembly. For this purpose, an assembly/disassembly line balancing (A/DLB) and a synchronised hybrid Petri nets (SHPN) model will be used to model and control an assembly/disassembly mechatronics line (A/DML), with a fixed number of workstations, served by a wheeled mobile robot (WMR) equipped with a 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 in synchronised mode with signals from sensors. Disassembly starts after the assembly process and after the assembled piece fails the quality test, in order to recover the parts. The WMR with RM is used only during disassembly, to transport the parts from the disassembling locations to the storage locations. Using these models and a LabView platform, a real-time control structure has been designed and implemented, allowing automated assembly and disassembly, where the latter is assisted by a mobile platform equipped with a manipulator.