Cognitive Mechatronic Devices for Reconfigurable Production of Complex Parts

摘要

This paper discusses a robotic cell that handles geometrically complex products, exploiting cognitive control and actuation systems for the manipulation, assembly and packaging. The individual mechatronic components, namely a 6-DoF gripper and a flexible assembly mechanism, have been designed via functional decomposition of the actual assembly and handling tasks. The flexibility of these mechanisms is exploited through control modules, performing different cognition functions at cell, resource and device level. The design approach can be generalized for tasks requiring dexterity and adaptation to products. A case study from the consumer goods sector, showcases the system’s reconfigurability and efficiency.