Fähigkeitsorientierte Montageablaufplanung in der direkten Mensch-Roboter-Kooperation

To meet the requirements of today's production a new kind of semi automated assembly system has been developed. In this system man and robot are working together in the same assembly station without safety constructions which separate them. The appearing question is how this 'cooperation-cell' should be planned: What is the best allocation of the assembly processes to man and robot? How can be decided which processes should be done by whom and when? What is the optimised operating sequence? In this thesis a method and a software tool have been developed for the planning of an operating sequence for a cooperation-cell which is optimised in terms of skills of humans, technical skills of robots and the cycle time. The target of the developed method is a skill oriented, multi criteria planning of an operating sequence. The method has been integrated into a software tool which enables the planner of assembly systems to schedule the assembly processes and distribute them among robot and human according to their skills and with an optimised cycle time. The developed method comprises two parts. In the first part, two so called 'skill levels' are calculated for each assembly process: One for the man and one for the robot. These 'skill levels' are quantitative factors which determine the suitability for performing the assembly process by a robot or by a human. Within the second part of the method a multi criteria planning of the operating sequence is done. With the help of a genetic algorithm an operating sequence is created with a high skill level on the one hand and a low cycle time on the other hand