Abstract
The new idea presented in the paper is to reverse of an assembly line in order to allow complete disassembly. A generalised Synchronised Hybrid Petri Nets (SHPN) model based control of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM) is presented. The approach is a hybrid one, the assembly/disassembly line being the discrete part whilst the WMR with RM is the continuous part. The mobile platform is used only in disassembly operations, in order to transport the components from the disassembly locations to the storage locations. Therefore, SHPN approach is used to model and control. This hybrid system takes into consideration the distribution of the necessary tasks to perform hybrid disassembly, using robot synchronisation with A/DML. Using SHPN model and a LabView platform, a real-time control structure has been designed and implemented, allowing automated assembly and disassembly where the last one is assisted by a mobile platform equipped with a manipulator.
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