Intelligent robot of inclined assembly sequence planning in Industrial 4.0

Abstract

In the industry 4.0, the Cyber-physical system (CPS) is one of the most important core which makes the manufacturing process more intelligent. Intelligent assembly operation is an important key in intelligent manufacturing of CPS. To complete the intelligent assembly operation, the cooperation between assembly robotic arm and assembly sequence planning (ASP) is necessary. However, the ASP and writing robotic codes manually is time consuming and requires professional knowledge and experience. Because the Local Coordinate System (LCS) is often ignored when checking for interference. If product have inclined interference and without considering LCS and causing and infeasible ASP. Therefore, this paper proposes a LCCPIAS (Local Coordinate Cyber-Physical Intelligent Assembly System) system to achieve three objective functions. First, this paper presents a dual-projected-based interference analysis approach (DPIAA) that analyzes the relations between components. Second, this paper generates optimal assembly sequence automatically to let the assembly sequence more suitable for the robotic arm to perform the assembly operation. The last one is LCS can recognize inclined interference between components and generate feasible ASP. Furthermore, this paper uses CAD model to verify that the DPIAA is faster and consider LCS interference can solve inclined interference problem. In the future assembly factory, the proposed method can help to realize intelligent manufacturing.