ABSTRACT

Human-robot collaboration (HRC), as a part of Industry 4.0 strategy, requires a completely new type of robots able to co-work with humans, called collaborative robots or cobots. This kind of collaboration is especially needed in assembly systems, which are known for having a low level of automation. For some assembly tasks human is still an irreplaceable factor. On the other hand, some assembly tasks are monotonous and tiring for humans. Therefore, the different approaches to cope with the challenge of identification and selection of proper task allocation between human worker and cobots are reported by many researchers. It is not an easy task since multiple and often conflicting criteria need to be taken into account. Some kind of artificial decision support is needed, to successfully solve this problem. In this research, task allocation procedure is presented for identification of different improvement options that utilize cobots into the assembly line for different tasks to be performed. The decision support system based on the HUMANT algorithm has been used for selection of the option which represents the best compromise solution. The procedure is experimentally tested on the assembly line with car gearboxes as a real product.

摘要

作为工业 4.0 战略的一部分，人机协作 (HRC) 需要一种能够与人类协同工作的全新类型的机器人，称为协作机器人或协作机器人。在以自动化程度低而著称的装配系统中尤其需要这种协作。对于一些装配任务，人仍然是一个不可替代的因素。另一方面，一些装配任务对人类来说是单调和累人的。因此，许多研究人员报告了应对识别和选择人类工作者和协作机器人之间适当任务分配挑战的不同方法。这不是一件容易的事，因为需要考虑多个且经常相互冲突的标准。需要某种人工决策支持才能成功解决这个问题。在这项研究中，提出了任务分配程序，用于识别不同的改进选项，这些选项利用协作机器人进入装配线以执行不同的任务。基于 HUMANT 算法的决策支持系统已被用于选择代表最佳折衷解决方案的选项。该程序在装配线上以汽车变速箱作为真实产品进行了实验测试。