Extended Approach for Modelling and simulation of Mechatronics Lines Served by Collaborative Mobile Robots

Abstract

This article proposes an extended approach to assembly/disassembly mechatronics lines (A/DML) modelling, in terms of service system typologies: autonomous mobile robots, collaborative mobile robots versus mobile robots with parallel action. The A/DML systems served by mobile robots have a specific typology and are modelled by specialized hybrid instruments belonging to Petri Nets class: Timed Petri Nets (TPN), Synchronised Hybrid Petri Nets (SHPN). For the reasons imposed by the production manufacturing management, for transporting components, are used mobile robotic platforms equipped with manipulators, which are dedicated or shared status between production manufacturing lines. The collaborative transport systems meet the specific concepts of shared resources with avoiding collisions while the parallel transport systems are subordinated of synchronized actions concepts. This paper focuses on SHPN models and off-line simulation results for the state, boundedness, viability and possible deadlock of process analysis. Task planning is used to identify synchronous events of SHPN model, the last one being useful for implementing of real-time control.