A Collaborative Robot-Assisted Manufacturing Assembly Process

TL;DR

This work addresses the challenge of integrating collaborative robots into manufacturing to reduce operator workload and improve ergonomics. It compares manual and human-robot collaborative assembly of a roller-conveyor section using a KUKA lbr iiwa 7 R800 with a SCHUNK gripper, controlled by a sequence processor and hand-guiding. The main finding is that the collaborative setup increases total task time by about $15\%$, but enhances ergonomics, reduces workload, and improves workflow and sequencing reliability by enabling the robot to act as a third hand and to deliver the appropriate fasteners. The study demonstrates the practicality of intuitive HRC deployment in assembly lines and suggests broader applicability across component types with further validation.

Abstract

An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots in industry is still challenging. In this work, we compare manual and robot-assisted assembly processes to evaluate the effectiveness of collaborative robots while featuring different modes of operation (coexistence, cooperation and collaboration). Results indicate an improvement in ergonomic conditions and ease of execution without substantially compromising assembly time. Furthermore, the robot is intuitive to use and guides the user on the proper sequencing of the process.

Figures (3)

• Figure 1: Components from the roller conveyor section, including the contents of the boxes transported by the robot to the operator.
• Figure 2: Sequence of actions done by the human, the robot or in collaboration in the collaborative scenario.
• Figure 3: Ergonomics comparison between manual and collaborative assemblies for each different assembly step.