Figure 1: Workplace-sharing intelligent-assistent robot prototype.

1 Overview

The concept of time-sharing robots for assembly processes is based on a dual-arm robot capable of time-sharing tasks with human workers in future assembly lines. This concept focuses on the improvement of the capacity flexibility of advanced assembly. SP2 aims to specify and refine the requirements of such a robot; develop concepts of assembly robotic systems allowing time-sharing with human workers; develop mathematical models and simulation of dual-arm redundant robotic systems; and design preliminary prototypes based on the elaborated and verified concepts.

2 Developments

2.1 Requirements specification

Based on an analysis of the state-of-the-art, requirements were deduced for a time-sharing assembly robot. Through the cooperation of end-users, system integrators, developers and various research institutions, specific development needs were identified that are not yet sufficiently addressed by the state-of-the-art. Details include the robot proportions, the kinematic structure, dynamic performance needs, robot working speed, arm and hand dexterity, and audio-visual capabilities. This part of SP2 is the foundation for the subsequent concepts development and design work.

2.2 Assembly robot concepts

Based on the identified end-user needs, a concept for the dual-arm robotic systems for time-sharing assembly operations was elaborated. The concept covers essential issues for the system design and integration, including the system architectures, modules and their interfaces, the system world model, and a common data base. A specific novelty of the dual-arm robot is the planning, programming and control of bimanual assembly operations. A feasible and reliable approach that copies human bimanual motoric functions and their control architecture was chosen. The proposed system can, for example, be used to increase automation in an existing aeronautical production model (as used by one of the project partners) in order to reduce costs and delays. Compared to other solutions, this has the advantage of keeping humans in the loop while offering a sophisticated means to achieve the necessary accuracy, repeatability and power in assembly tasks.

SP1

SP3