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Human − industrial robot collaboration: Simulation, visualisation and optimisation of future assembly workstations
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.ORCID iD: 0000-0002-2401-0380
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Västerås: Mälardalen University , 2015.
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 211
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
URN: urn:nbn:se:mdh:diva-28070ISBN: 978-91-7485-218-9 (print)OAI: oai:DiVA.org:mdh-28070DiVA: diva2:816519
Presentation
2015-09-08, Filen, Mälardalens högskola, Eskilstuna, 10:00 (English)
Opponent
Supervisors
Funder
Knowledge Foundation
Available from: 2015-06-03 Created: 2015-06-03 Last updated: 2015-08-24Bibliographically approved
List of papers
1. Virtual evaluation of industrial human-robot cooperation: An automotive case study
Open this publication in new window or tab >>Virtual evaluation of industrial human-robot cooperation: An automotive case study
2014 (English)Conference paper, (Refereed)
Abstract [en]

The manufacturing industries in the developed countries face challenges in terms of increased competition that puts demands on productivity, and a demographic change leading to an older population. One way of managing these challenges is through closer cooperation between human operators and robots. The robots can perform heavy, repetitive and hazardous tasks in a workstation, while the human operator does the more complex and flexible operations.

Most industrial human-robot interaction research focuses on the safety aspects, often performed and presented in the form of physical demonstrators, while little research is made on virtual simulations. Several simulation and visualisation tools for robot evaluation exist, as well as tools for digital human modelling. However, few tools can be found that virtually combines human and robot.

The aim of this paper is to contribute to narrowing that gap by presenting a method for virtual evaluation and optimisation of industrial human-robot cooperation. The new software demonstrator developed for this is based on the DHM tool IMMA. The presented method was implemented in a truck industry case comparing three assembly scenarios; fully manual, fully robotised or human-robot cooperation assembly. The method considers three dimensions which are compared and optimised for the human and robot; reach, operation time and biomechanical load.

The software demonstrator presents a virtual simulation of industrial human-robot cooperation. The result from this simulation can be used to find the optimal ergonomic manufacturing system based on biomechanical loads as well as finding the system with shortest operation time. The specific industrial case verifies the statement that a human-robot collaborative assembly system gives a less physically demanding workstation compared to a manual system, and thus is better adapted to an elderly workforce. This is achieved at the same time as the operation time decreases and productivity increases, which is necessary to meet the global competition. There are though safety issues to be solved and safety standards to be changed before these benefits can be applied in practise in industry. However, the software can be used to analyse different kind of human-robot interactions that are less cooperative and can be implemented within current regulations.

Keyword
Digital Human Modelling, Virtual simulation, Production Design Optimisation, Human-robot interaction, Industrial Robots
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-28054 (URN)
Conference
3rd International Digital Human Modeling Symposium (DHM2014), May 20-22, Odaiba, Japan
Available from: 2015-06-01 Created: 2015-06-01 Last updated: 2015-12-10Bibliographically approved
2. Human Industrial Robot Collaboration – development and application of simulation software
Open this publication in new window or tab >>Human Industrial Robot Collaboration – development and application of simulation software
2015 (English)In: International Journal of Human Factors Modelling and Simulation, ISSN 1742-5557, Vol. 5, no 2, 164-185 p.Article, review/survey (Refereed) Published
Abstract [en]

Human industrial robot collaboration (HIRC) aims to combine the benefits of industrial robots with humans in production environments. This is a growing research field where most work focuses on the safety aspects, while little research is performed on simulation and visualisation. The aim of this paper is to present a demonstrator software for simulation, visualisation and evaluation of human industrial robot collaboration.

Two simulation software products were combined to reach this goal. The new tool was then applied to two industrial assembly cases where productivity and biomechanical loads on humans were calculated. The resulting demonstrator software simulates and visualises human industrial robot collaboration. The quantitative output from the simulation makes it possible to compare HIRC, manual and robotic assembly stations in terms of productivity and ergonomics.

Keyword
Human robot collaboration; HRC; industrial robot collaboration; human robot; industrial assembly; man machine; digital human modelling; DHM; virtual simulation; workstation design; ergonomics
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-28068 (URN)10.1504/IJHFMS.2015.075362 (DOI)
Projects
INNOFACTURE - innovative manufacturing development
Funder
XPRES - Initiative for excellence in production research
Available from: 2015-06-03 Created: 2015-06-03 Last updated: 2016-12-20Bibliographically approved
3. Human Industrial Robot Collaboration – Optimisation of Handover Position
Open this publication in new window or tab >>Human Industrial Robot Collaboration – Optimisation of Handover Position
2015 (English)In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015., 2015Conference paper, (Refereed)
Abstract [en]

The simulation possibilities of Human Industrial Robot Collaboration (HIRC) are limited in commercial software and published research. In order to meet this a demonstrator software has been developed. This paper presents the combination of the quantitative output from the software (measuring operation time and biomechanical load) together with optimisation techniques used to design the optimal HIRC workstation. An industrial case is used as an example where the optimal geometric handover position between robot and human is found. From the simulation software metamodels were created in order to represent the investigated workstation. The model was used in a multi-objective optimisation problem and resulted in a trade-off chart between operation time and biomechanical load. The result shows one example of the possibilities to combine the quantitative results from the simulation with optimisation in order to get the best solution to a HIRC design problem.

National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Innovation and Design
Identifiers
urn:nbn:se:mdh:diva-28069 (URN)
Conference
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Available from: 2015-06-03 Created: 2015-06-03 Last updated: 2016-12-27Bibliographically approved

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