Collaborative robots can be a proper solution to improve the throughput of manual systems without reducing their flexibility. To effectively use cobots in productive systems, it is fundamental to develop a suitable task allocation model that considers collaboration. Hence, we present a model for collaborative assembly line balancing (C-ALB) which considers paralleling tasks and collaboration in the balancing resolution. Indexes that take into account both the product and process characteristics are defined to evaluate the quality of the proposed task allocation model and comparing it to others. The results confirm the influence of the product characteristics on the system performance, leading to the definition of a new paradigm for product design.

协作机器人可以成为提高手动系统吞吐量而不降低其灵活性的适当解决方案。为了在生产系统中有效地使用协作机器人，开发考虑协作的合适任务分配模型至关重要。因此，我们提出了一个协作装配线平衡 (C-ALB) 模型，该模型在平衡解决方案中考虑了并行任务和协作。定义了同时考虑产品和过程特征的指标，以评估提议的任务分配模型的质量并将其与其他模型进行比较。结果证实了产品特性对系统性能的影响，从而定义了新的产品设计范式。