ABSTRACT To support shifting to high mix/low volume production, manufacturers in high wage countries aim for robotizing their production operations – with a special focus on the late production phases, where robotic assembly cells are then confronted with any complexities resulting from part and product varieties. The ‘World Robot Challenge 2018’ (WRC 2018) emulated such high mix/low volume production scenarios in a competition taking place in Tokyo, Japan. As part of our activities in SDU's newly founded I4.0 Lab, we integrated and advanced our experiences and developments from our various R & D projects in a novel robotic assembly cell design to compete in the WRC 2018. This article describes the system architecture as well as main aspects of its implementation regarding robot control, robot programming and computer vision and how they contributed to winning the challenge. Due to the application of collaborative robots, the cell design allows for operation without fences. Hence, multiple copies of the cell can be arranged in a highly reconfigurable, highly adaptable matrix structure in which several production flows can be handled concurrently. This concept was demonstrated by the installation of a duplicate cell that allowed for parallel developments on two cells and prolonged development also after shipping the first cell to Japan. GRAPHICAL ABSTRACT

中文翻译：

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面向敏捷生产的机器人单元矩阵——SDU Robotics 在 2018 年 WRC 上的组装单元

摘要 为了支持向高混合/小批量生产的转变，高工资国家的制造商旨在实现生产操作的机器人化——特别关注后期生产阶段，在那里机器人装配单元将面临由零件和产品种类引起的任何复杂性. “2018 年世界机器人挑战赛”（WRC 2018）在日本东京举行的比赛中模拟了这种高混合/低产量的生产场景。作为我们在 SDU 新成立的 I4.0 实验室活动的一部分，我们整合和推进了我们在新型机器人装配单元设计中的各种研发项目的经验和发展，以参加 WRC 2018。本文将系统架构描述为以及其实施的有关机器人控制的主要方面，机器人编程和计算机视觉以及它们如何为赢得挑战做出贡献。由于协作机器人的应用，单元设计允许无围栏操作。因此，单元的多个副本可以排列在高度可重构、高度适应性的矩阵结构中，其中可以同时处理多个生产流程。这一概念通过安装一个复制单元来证明，该单元允许在两个单元上并行开发，并在将第一个单元运往日本后延长开发时间。图形概要 高度适应性的矩阵结构，可以同时处理多个生产流程。这一概念通过安装一个复制单元来证明，该单元允许在两个单元上并行开发，并在将第一个单元运往日本后延长开发时间。图形概要 高度适应性的矩阵结构，可以同时处理多个生产流程。这一概念通过安装一个复制单元来证明，该单元允许在两个单元上并行开发，并在将第一个单元运往日本后延长开发时间。图形概要