Hybrid modeling, balancing and control of a mechatronics line served by two mobile robots

摘要

This paper presents hybrid model for an assembly/disassembly mechatronics line serviced by two mobile robotics systems, working in parallel. The aim is to reverse an assembly line using these mobile platforms. For this purpose, an assembly/disassembly line balancing (A/DLB) and synchronized hybrid Petri nets (SHPN) will be used to model and control an assembly/disassembly mechatronics line (A/DML), with a fixed number of workstations, served by two wheeled mobile robots (WMRs) one of them equipped with a robotic manipulators (RM). The WMR with RM is used for part manipulation and the other for transporting. Moreover, the model operates in synchronized mode with signals from sensors. The SHPN model is hybrid type, where A/DML is the discrete part, and WMRs are the continuous parts. Disassembly starts after the assembly process and after the assembled piece fails the quality test, for recovering the parts. The WMRs are used only during disassembly, to manipulate and transport the parts from the disassembling locations to the storage warehouse locations.