Development of autonomous collaborative multi-robotics assembly system with digital twin approach | |
| Author | Kyaw Htet Oo |
| Call Number | AIT Thesis no.ISE-22-16 |
| Subject(s) | Autonomous robots Robots, Industrial |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Industrial and Manufacturing Engineering |
| Publisher | Asian Institute of Technology |
| Abstract | In todays’ manufacturing sector, Robotics Assembly (RA) has been broadly used as an important role technology. In RA, robots use the most efficient processes to produce a variety of products ranging from large-scale products to minute products. A number of tasks, including part positioning, mating, adjusting, and assembling parts or components to produce finished products or partially assembled parts, can be carried out by assembly robots. However, due to multiple sources of uncertainty including fixtures, end-effectors, and actuators, completing assembly tasks by assembly robots continues to be a significant challenge. Identifying the best search approach to increase positioning accuracy during assembly is the most significant technical obstacle. The 3D robotics assembly system arranges the assembly order step by step, according to information from a final assembly configuration. Robotics assembly planning is a critical process, and it is done for each assembly process in two steps: planning the pre assembly process and planning the assembly process itself. There is no issue regarding the second step where all assembly parts are reassembled in order according to the final assembly configuration. Implementing the first step is essential, though, as it directly affects how difficult the assembly system becomes when it starts to handle a random arrangement of complex 3D parts during initial setup. When the initial part configurations are considered to be random configurations without fixtures, the shape of the assembly part, the initial position of the assembly part and the initial stable orientation of each assembly part are three key factors to be considered for planning the pre-assembly process. Furthermore, the problem becomes more complex when the used assembly parts are in complex shape with random stable orientation, and they must be converted to the final assembly configuration from any random initial configuration. Some researchers conducted this area with the use of simple 3D objects for instance, soma blocks and Lego blocks which means still far to reach the real-life level industrial assembly applications. Therefore, the main idea of this study becomes to reach real-life industrial assembly applications by using complex shape 3D parts in random initial configuration setup. This research aims to improve the 3D assembly process of Co MRAS to better support the handling of complex 3D parts in random configurations at the initial state. |
| Year | 2022 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Pisut Koomsap |
| Examination Committee(s) | Huynh Trung Luong;Mongkol Ekpanyapong |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2022 |