Flexible robotic assembly in dynamic environments

摘要

While robotic automation has played a key role in the automotive industry and specifically in stamping, welding, material handling and painting over the last 30 years, currently there are no robotic assembly applications in the final assembly of a vehicle on a moving line in domestic automotive manufacturing plants. In order for the U. S. automotive base to improve its global manufacturing competitiveness, new robotic technologies are required to enable the installation of parts on a moving assembly line. In this paper we will describe GM's comprehensive effort in achieving robotic flexible assembly on moving assembly lines, from initial moving assembly line motion characterization and robotic line tracking performance evaluation, to GM specific application development such as robotic wheel and tire load. We will then highlight three types of assembly methods in automotive general assembly, and examine assembly alignment as well as assembly manipulation motion characteristics in each type of the assembly methods. Finally we will discuss key enablers to achieve robust and flexible robotic assembly in an unfixtured and dynamic manufacturing environment.