Skip to main content
SpringerLink
Log in

Robot based system for the automation of flow assembly lines

  • Assembly
  • Published:
Production Engineering Aims and scope Submit manuscript

Abstract

In this paper a promising approach to the automation of flow assembly lines is presented. The developed system uses a standard industrial robot and synchronizes it to the product in all degrees of freedom. The synchronization is enabled by dividing the assembly process in different phases and controlling the robot in each phase with an adequate sensor system. Besides that a compliance is integrated into the gripper system in order to reduce high contact forces and tolerate high frequent pose deviations. Main advantages of the synchronized assembly are the avoidance of buffers and the reduction of the throughput time.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11

Similar content being viewed by others

References

  1. Lien TK, Rasch FO (2001) Hybrid automatic-manual assembly systems. Ann CIRP 50(1):21–24

    Google Scholar 

  2. Feldmann K, Müller B, Haselmann T (1999) Automated assembly of lightweight automotive components. Ann CIRP 48(1):9–12

    Google Scholar 

  3. Krüger J, Nickolay B, Heyer P, Seliger G (2005) Image based 3D surveillance for flexible man–robot-cooperation. Ann CIRP 54(1):19–22

    Google Scholar 

  4. Reinhart G, Werner J (2007) Flexible automation for the assembly in motion. Ann CIRP 56(1):25–28

    Google Scholar 

  5. Dirndorfer A (1993) Robotersysteme zur förderbandsynchronen Montage. Dissertation Technische Universität München. Springer, Berlin (iwb-Forschungsberichte 63)

  6. DIN EN ISO 9283: Industrieroboter—Leistungskenngrößen und zugehörige Prüfmethoden. Beuth, Berlin

  7. Lange F (2003) Adaptive vorausplanende Steuerung für schnelle sensorbasierte Roboterbewegungen. Dissertation Universität Karlsruhe

  8. Kamel A, Lange F, Hirzinger G (2008) New aspects of input shaping control to damp oscillations of a compliant force sensor. ICRA 2008. Pasadena (accepted)

  9. Kamel A, Lange F, Hirzinger G (2008) Vibration reduction of a compliant force/torque sensor using an industrial-robots-suited command preshaping control scheme. MOVIC 2008. München (eingereicht)

  10. Lange F, Strobl KH, Langwald J, Jörg S, Hirzinger G, Gruber B, Klein J, Werner J (2008) Kameragestützte Montage von Rädern an kontinuierlich bewegte Fahrzeuge. In: VDI Fachtagung ROBOTIK 2008; München 11. 12. 6. 2008

  11. Lange F, Frommberger M, Jörg S, Langwald J, Kamel A, Meusel P, Willberg B, Hirzinger G, Werner J (2008) Montage am kontinuierlich bewegten Band—Sensorkonfiguration und Programmierung. In: VDI Fachtagung ROBOTIK 2008; München 11. 12. 6. 2008

Download references

Author information

Authors and Affiliations

  1. Institute of Machine Tools and Industrial Management, Technische Universität München, Boltzmannstr. 5, 85747, Garching, Germany

    G. Reinhart & Jochen Werner

  2. Institute for Robotic and Mechatronic, German Aerospace Center (DLR), Oberpfaffenhofen, 82234, Weßling, Germany

    F. Lange

Authors
  1. G. Reinhart
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jochen Werner
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. F. Lange
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jochen Werner.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Reinhart, G., Werner, J. & Lange, F. Robot based system for the automation of flow assembly lines. Prod. Eng. Res. Devel. 3, 121–126 (2009). https://doi.org/10.1007/s11740-008-0143-z

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11740-008-0143-z

Keywords

Search

Navigation