Feasibility study ure5 Collaborative robot at engine piston assembly station Abstract

Collaborative assembly workstation

The future solution contains collaborative URe5 robot, illustrated in figure 3. The task division is based on an analysis of flexibility and complexity of the value-added tasks. The hierarchical Precedence Diagram Method (PDM) of the new layout with cobot is illustrated in the following Figure 4.


Fig 4. Precedence Diagram of corresponding assembly station with URe5 robot

The following Table 2 represents the task allocation and effective process time of the simulation model created by RoboDK.

Table 2. Task allocation and RoboDK simulation result

PDM	Operation name	Time	Resources
1	Locating Piston Set	4.17	Human
2	Rotate engine into 90 degrees	3.36	Human
3	Fixing crankshaft controller	4.24	Human
4	Lubrication	23	Human
	QR code scanning		Robot
	Locating guider into piston and assembly into engine cylinder		Human+Robot
5	Rotate crankshaft into 60 degrees	19	Human
	Locating guider into piston and assembly into engine cylinder		Human+Robot
6	Rotate crankshaft into 60 degrees	19	Human
	Locating guider into piston and assembly into engine cylinder		Human+Robot
7	Remove guiders	5	Human
8	Rotate engine into 90 degrees	7	Human

3. 
   Laboratory experiments (Abduazim+Ikrom)
   
1. 
   Results and Discussion (All)
   
2. 
   Conclusion (Abror)