CAD-based system for programming of robotic assembly processes with human-in-the-loop

Abstract

There are several different systems and methods available for programming of assembly processes in the industry today. However, they all have their different drawbacks: time consuming programming, high investment costs or high complexity. Especially, for small batch-size products with a large amount of parts, there exists no off-the-self solution today. This paper investigates and presents an approach, where the assembly process is defined through a common CAD system, and the process first can be simulated in an general robot simulation tool and with the use of augmented reality, followed by execution in the real word. The novelty of the paper is in the application of the semi-automated generation of the assembly process for small batch-size products. The proposed system is focusing on assembly of low volume products with a large amount of parts, for which robotic assembly is currently not considered feasible. Programming, verification and calibration methodology is explained, a case study is presented, and advantages and drawbacks of the solution is discussed.