Abstract
Human–robot collaborative assembly (HRCA) can give full play to their respective advantages and significantly improve assembly efficiency. Rational assembly sequences and task assignment schemes facilitate an efficient and smooth assembly process. This paper proposes a method of integrated assembly sequence planning and task assignment for HRCA based on the genetic algorithm (GA). Firstly, a part assembly process is decomposed into positioning task and connection task, which include a series of activities from the practical application aspect. Then, a dual-task precedence graph model for product assembly is accordingly constructed. Subsequently, GA is used to integrate assembly sequence planning and task assignment in HRCA considering time, complexity, and coherence as optimization objectives. By using Gantt charts, a chromosome encoding and decoding method based on human–robot collaborative assembly state diagrams in collaborative work is proposed to express assembly sequences and task assignment schemes. Finally, assembly process simulation is conducted to slightly adjust the assignment result considering potential collision in the shared time and space during HRCA. The case studies illustrate the feasibility and effectiveness of the proposed approach.
Similar content being viewed by others
References
Alkan B (2019) An experimental investigation on the relationship between perceived assembly complexity and product design complexity. Int J Interact Des Manuf 13(3):1145–1157. https://doi.org/10.1007/s12008-019-00556-9
Bogner K, Pferschy U, Unterberger R, Zeiner H (2018) Optimised scheduling in human–robot collaboration–a use case in the assembly of printed circuit boards. Int J Prod Res 56(16):5522–5540. https://doi.org/10.1080/00207543.2018.1470695
Bruno G, Antonelli D (2018) Dynamic task classification and assignment for the management of human–robot collaborative teams in workcells. Int J Adv Manuf Technol 98(9):2415–2427. https://doi.org/10.1007/s00170-018-2400-4
Chen F, Sekiyama K, Cannella F, Fukuda T (2014) Optimal subtask allocation for human and robot collaboration within hybrid assembly system. IEEE Trans Autom Sci Eng 11(4):1065–1075. https://doi.org/10.1109/TASE.2013.2274099
Chen F, Sekiyama K, Fukuda T (2012) A genetic algorithm for subtask allocation within human and robot coordinated assembly. In: Proceedings of 2012 international symposium on micro-nano mechatronics and human science, pp 507–511, https://doi.org/10.1109/MHS.2012.6492504
Chryssolouris G, Tsarouchi P, Makris S (2016) Human–robot interaction review and challenges on task planning and programming. Int J Comput Integr Manuf 29(8):916–931. https://doi.org/10.1080/0951192X.2015.1130251
Chutima P (2022) A comprehensive review of robotic assembly line balancing problem. J Intell Manuf 33:1–34. https://doi.org/10.1007/s10845-020-01641-7
Çil ZA, Li Z, Mete S et al (2020) Mathematical model and bee algorithms for mixed-model assembly line balancing problem with physical human–robot collaboration. Appl Soft Comput 93:106394. https://doi.org/10.1016/j.asoc.2020.106394
Dalle MM, Dini G (2019) Designing assembly lines with humans and collaborative robots: a genetic approach. CIRP Ann 68(1):1–4. https://doi.org/10.1016/j.cirp.2019.04.006
Ehsan S, Simon HP, Sergey T, Alexandre KD (2020) Operations management issues in design and control of hybrid human–robot collaborative manufacturing systems: a survey. Annu Rev Control 49:264–276. https://doi.org/10.1016/j.arcontrol.2020.04.009
Elmaraghy HA, Algeddawy T (2012) Co-evolution of products and manufacturing capabilities and application in auto-parts assembly. Flex Serv Manuf J 24(2):142–170. https://doi.org/10.1007/s10696-011-9088-1
Ghosh BK, Helander MG (1986) A systems approach to task allocation of human–robot interaction in manufacturing. J Manuf Syst 5(1):41–49. https://doi.org/10.1016/0278-6125(86)90066-X
Giele TRA, Mioch T, Neerincx MA, et al (2015) Dynamic task allocation for human–robot teams. In: Proceedings of the international conference on agents and artificial intelligence vol 1, pp 117–124. https://doi.org/10.5220/0005178001170124
Gjeldum N, Aljinovic A, Zizic MC, Mladineo M (2022) Collaborative robot task allocation on an assembly line using the decision support system. Int J Comput Integr Manuf 35:510–526. https://doi.org/10.1080/0951192X.2021.1946856
Ham DH, Park J, Jung W (2012) Model-based identification and use of task complexity factors of human integrated systems. Reliab Eng Syst Safe 10:33–47. https://doi.org/10.1016/j.ress.2011.12.019
Heydaryan S, SuazaBedolla J, Belingardi G (2018) Safety design and development of a human–robot collaboration assembly process in the automotive industry. Appl Sci-Basel 8(3):344. https://doi.org/10.3390/app8030344
Huang J, Pham DT, Li R et al (2021) An experimental human–robot collaborative disassembly cell. Comput Ind Eng 155:107189. https://doi.org/10.1016/j.cie.2021.107189
Johannsmeier L, Haddadin S (2017) A hierarchical human–robot interaction-planning framework for task allocation in collaborative industrial assembly processes. IEEE Robot Autom Lett 2(1):41–48. https://doi.org/10.1109/LRA.2016.2535907
Kathryn ES, Mokhtarzadeh M (2022) Balancing collaborative human–robot assembly lines to optimise cycle time and ergonomic risk. Int J Prod Res 60:25–47. https://doi.org/10.1080/00207543.2021.1989077
Liau YY, Ryu K (2022) Genetic algorithm-based task allocation in multiple modes of human–robot collaboration systems with two cobots. Int J Adv Manuf Technol 119:7291–7309. https://doi.org/10.1007/s00170-022-08670-x
Liu P, Li Z (2012) Task complexity: a review and conceptualization framework. Int J Ind Ergon 42(6):553–568. https://doi.org/10.1016/j.ergon.2012.09.001
Liu Q, Liu Z, Xu W et al (2019) Human–robot collaboration in disassembly for sustainable manufacturing. Int J Prod Res 57(12):4027–4044. https://doi.org/10.1080/00207543.2019.1578906
Lv Q, Zhang R, Sun X, Lu Y, Bao J (2021) A digital twin-driven human–robot collaborative assembly approach in the wake of COVID-19. J Manuf Syst 60:837–851. https://doi.org/10.1016/j.jmsy.2021.02.011
Malik AA, Bilberg A (2019) Complexity-based task allocation in human–robot collaborative assembly. Ind Robot 46(4):471–480. https://doi.org/10.1108/IR-11-2018-0231
Milliez G, Lallement R, Fiore M, Alami R (2016) Using human knowledge awareness to adapt collaborative plan generation, explanation and monitoring. In: Proceedings of 2016 11th ACM/IEEE international conference on human–robot interaction, pp 43–50. https://doi.org/10.1109/HRI.2016.7451732
Moretti E, Tappia E, Mauri M et al (2022) A performance model for mobile robot-based part feeding systems to supermarkets. Flex Serv Manuf J 34(3):580–613. https://doi.org/10.1007/s10696-021-09427-6
Müller R, Vette M, Geenen A (2017) Skill-based dynamic task allocation in human–robot-cooperation with the example of welding application. Proc Manuf 11:13–21. https://doi.org/10.1016/j.promfg.2017.07.113
Nikolakis N, Kousi N, Michalos G, Makris S (2018) Dynamic scheduling of shared human–robot manufacturing operations. Proc CIRP 72:9–14. https://doi.org/10.1016/j.procir.2018.04.007
Parsa S, Saadat M (2021) Human–robot collaboration disassembly planning for end-of-life product disassembly process. Robot Comput Integr Manuf 71:102170. https://doi.org/10.1016/j.rcim.2021.102170
Rabbani M, Behbahan SZB, Farrokhi-Asl H (2020) The collaboration of human–robot in mixed-model four-sided assembly line balancing problem. J Intell Robot Syst 100:71–81. https://doi.org/10.1007/s10846-020-01177-1
Raessa M, Chen JCY, Wan W et al (2020) Human-in-the-loop robotic manipulation planning for collaborative assembly. IEEE Trans Autom Sci Eng 17(4):1800–1813. https://doi.org/10.1109/TASE.2020.2978917
Rahman SM, Wang Y (2018) Mutual trust-based subtask allocation for human–robot collaboration in flexible lightweight assembly in manufacturing. Mechatronics 54:94–109. https://doi.org/10.1016/j.mechatronics.2018.07.007
Ranz F, Hummel V, Sihn W (2017) Capability-based task allocation in human–robot collaboration. Proc Manuf 9:182–189. https://doi.org/10.1016/j.promfg.2017.04.011
Riedelbauch D, Henrich D (2019) Exploiting a human-aware world model for dynamic task allocation in flexible human–robot teams. In: Proceedings of 2019 international conference on robotics and automation, pp 6511–6517. https://doi.org/10.1109/ICRA.2019.8794288
Schermerhorn P, Scheutz M (2009) Dynamic robot autonomy: investigating the effects of robot decision-making in a human–robot team task. In: Proceedings of the 2009 international conference on multi-modal interfaces, pp 63–70. https://doi.org/10.1145/1647314.1647328
Schmidt B, Wang L (2014) Depth camera-based collision avoidance via active robot control. J Manuf Syst 33(4):711–718. https://doi.org/10.1016/j.jmsy.2014.04.004
Schröter D, Jaschewski P, Kuhrke B, Verl A (2016) Methodology to identify applications for collaborative robots in powertrain assembly. Proc CIRP 55:12–17. https://doi.org/10.1016/j.procir.2016.08.015
Stadnicka D, Antonelli D (2019) Human–robot collaborative work cell implementation through lean thinking. Int J Comput Integr Manuf 32(6):580–595. https://doi.org/10.1080/0951192X.2019.1599437
Takata S, Hirano T (2011) Human and robot allocation method for hybrid assembly system. CIRP Ann 60(1):9–12. https://doi.org/10.1016/j.cirp.2011.03.128
Tsarouchi P, Michalos G, Makris S, Athanasatos T, Dimoulas K, Chryssolouris G (2017) On a human–robot workplace design and task allocation system. Int J Comput Integr Manuf 30(12):1272–1279. https://doi.org/10.1080/0951192X.2017.1307524
Wang L, Gao R, Váncza J, Krüger J, Wang XV, Makris S, Chryssolouris G (2019) Symbiotic human–robot collaborative assembly. CIRP Ann 68(2):701–726. https://doi.org/10.1016/j.cirp.2019.05.002
Weckenborg C, Kieckhäfer K, Müller C, Grunewald M, Spengler TS (2019) Balancing of assembly lines with collaborative robots. Bus Res 13:93–132. https://doi.org/10.1007/s40685-019-0101-y
Xu W, Tang Q, Liu J, Liu Z, Zhou Z, Pham DT (2020) Disassembly sequence planning using discrete Bees algorithm for human–robot collaboration in remanufacturing. Robot Comput Integr Manuf 62:101860. https://doi.org/10.1016/j.rcim.2019.101860
Yi Y, Yan Y, Liu X, Ni Z, Feng J, Liu J (2021) Digital twin-based smart assembly process design and application framework for complex products and its case study. J Manuf Syst 58:94–107. https://doi.org/10.1016/j.jmsy.2020.04.013
Zanchettin AM (2021) Robust scheduling and dispatching rules for high-mix collaborative manufacturing systems. Flex Serv Manuf J 34(2):293–316. https://doi.org/10.1007/s10696-021-09406-x
Zhu Y, Tian D, Yan F (2020) Effectiveness of entropy weight method in decision-making. Math Probl Eng 2020:3564835. https://doi.org/10.1155/2020/3564835
Funding
Research supported by the Preliminary Research Program of Equipment Development of China (Grant No. 61409230103).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors claim that the paper has not been published or is not under consideration for publication elsewhere.
Competing interests
No potential conflict of interest was reported by the authors.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Wang, Y., Wang, J., Feng, J. et al. Integrated task sequence planning and assignment for human–robot collaborative assembly station. Flex Serv Manuf J 35, 979–1006 (2023). https://doi.org/10.1007/s10696-022-09479-2
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10696-022-09479-2