A Generalised Approach to the Temporal Optimisation Cycle of an Assembly/Disassembly Mechatronics Line Served by Mobile Robot with Manipulator
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.
assembly/disassembly mechatronics line time cycle wheeled mobile robot robotic manipulator Petri nets
MINCA Eugenia
“Dunarea de Jos University of Galati,Department of Automation and Electrical Engineering;Galati 800008;“Valahia University of Targoviste,Department of Automation,Computer Science and Electrical Engineering,Targoviste 130082
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
3881-3886
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）