Feasibility study ure5 Collaborative robot at engine piston assembly station Abstract

Methodology (Ikrom)

In order to conduct a feasibility study for the URe5 collaborative robot at engine piston assembly stations, we presented a three-step methodology made up of the mapping, simulation, and testing (MST) phases of the assembly operation.
1.Assembly Station Mapping. This phase decomposes the engine piston manual assembly operation into subtasks using the HTA method in order to define the effective process time of each value-added task within the assembly operation. Four observers independently measured manual assembly tasks to validate the measured data, and then descriptive statistics and ANOVA tests were used to determine the mean effective process time of each subtask in order to define the critical subtasks within the assembly operation to assign for robot resources. 
2. RoboDK Simulation. The next step in the methodology is to use RoboDK software to create a digital twin of the new assembly layout. The objective of this simulation is to calculate the total effective process time of the new assembly station by identifying the effective process times of the tasks assigned to robot.
3.Testing in laboratory. The methodology's final stage is to determine the effective process time of the new assembly station in the laboratory using the URe5 robot. The objective of this study is to compare new assembly layout, simulation and initial manual operation effective process times.
The overall flow chart of the MST methodology is represented in Figure 2.


Fig 2. The (MST) Methodology of the paper

3. 
   Case study
   
   1. 
      Assembly current state mapping (Jasur)
      

2. 
   RoboDK simulation analysis (Ikrom)
   

RoboDK [ CITATION Sim20 \l 1033 ] is off-line simulator designed for robot applications that enables robot programs to be authored, simulated, and generated outside of the production environment and without the presence of the robots. It has a number of advantages, including the elimination of production downtime and the analysis of various situations with the goal of avoiding collisions, singularities, or reachability problems. This program uses a realistic robot model and a Graphical User Interface (GUI) to simulate the complete workplace. The following Figure 3 represents the station tree and workplace layout of this paper.