Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Simulation of Human-Industrial Robot Collaboration in Machining and Logistics Environments
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The retention of elderly workers by companies in industrialized nations, due to reasons of economic stagnation or changing demographics, is resulting in an increase of the average age of the workforce (Zaeh and Prasch, 2007). With the deterioration of physical human ability with age, the performance of man-power engaged in partially-automated work environments is likely to suffer as a result. Robotic automation serves as an alternative to the performance of tasks that are repetitive, hazardous and/or have requirements of high precision, speed of operation and/or strength. Human workers however, possess superior sensor-motoric and decision making capabilities, and are extremely flexible to change (Krüger, Lien & Verl, 2009). As full robotic automation is at times not possible to implement in certain situations due to issues of practicality and complexity, Human-Industrial Robot Collaboration (HIRC) may potentially enable the inclusion of an elderly workforce in value adding processes without compromising on productivity and at times even resulting in its improvement (Reinhart, Spillner & Shen, 2012). Presented in this thesis are two cases outside the traditional scope of HIRC assembly. Both industrial cases are from a heavy vehicle manufacturer and demonstrate the potential width of HIRC workstations. Case 1 simulates in machining environments, the assisted inspection of inline engine blocks and Case 2 simulates in logistics environments, material preparation for assembly line orders. Both manual cases were simulated with a DHM tool and the results evaluated with regard to ergonomics and productivity by observing the biomechanical load on the manikins and operation time through predetermined motion time system and stopwatch techniques respectively. HIRC solutions were proposed, analysed with the tools outlined above and compared with their manual counterparts. Given the limitations of the evaluation tools and simplification of simulations, preliminary results demonstrate the improvement of process ergonomics and cycle time in applications areas outside the traditional assembly scope of HIRC.

Abstract [sv]

I dagens samhälle så är det inte ekonomiskt hållbart för en majoritet av befolkningen att gå i förtida pension. Detta driver på omställningen för att kunna behålla en åldrande personalstyrka fram till pensionsåldern. En åldrande arbetskraft skapar lätt en försämrad prestation på en arbetsplats på grund av människans natur. Att ta hjälp av robotar i det dagliga arbetet ges som ett klart alternativ till repetitiva och fysiskt tunga uppgifter. I vissa fall så är det inte möjligt att genomföra en full robotautomation på grund av antingen tekniska, praktiska eller komplexa. I dessa fall kan man använda sig av metoden Human-Industrial Robot Collaboration (HIRC). Detta möjliggör att man kan dra nytta av en åldrande arbetskraft utan att kompromissa med produktivitet, samt att det även i vissa fall kan förbättra produktiviteten(Reinhart, Spillner & Shen, 2012). I denna avhandling så visas två fall av HIRC inom montering och logistikområdet. Båda fallen kommer från en tungviktare inom fordonsindustrin och visar en stor bred potential med HIRC vid arbetsstationer. Det första fallet hanterar bearbetningsmiljöer med stöd av mänsklig inspektion av motorblocken. Efterföljande fall behandlar området inom logistik, mer specifikt inom materialförberedelser av drivaxel till montering. Båda fallen simuleras med hjälp av ett Digital Human Modeling (DHM) verktyg som sedan utvärderas beroende på ergonomi och produktivitet. Detta genom att observera belastningen på dockor genom Predetermined Motion Time System(PMTS) och stoppurstekniker. Diverse HIRC lösningar föreslogs, analyserades och jämfördes med deras manuella motsvarigheter. Dock med begränsningar i utvärderingsverktyg och viss förenkling av simuleringar så har de initiala resultaten visat en förbättring av både ergonomi och cykeltid. Detta i tillämpningsområden utanför den traditionella HIRC tekniken.

Place, publisher, year, edition, pages
2015. , 93 p.
Series
Degree Project in Production Engineering Management, Second Level, 653
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-193076OAI: oai:DiVA.org:kth-193076DiVA: diva2:975051
Supervisors
Examiners
Available from: 2016-09-28 Created: 2016-09-28 Last updated: 2016-09-28Bibliographically approved

Open Access in DiVA

fulltext(5960 kB)63 downloads
File information
File name FULLTEXT01.pdfFile size 5960 kBChecksum SHA-512
8868feeafde96a32e939b7323daaca8d94662c8b6e6ae7def9ae28b4ec79a86a5c2f18498b2f9633d405a07968a3a4aa4b3021125864dafbdc3998b53a393fd2
Type fulltextMimetype application/pdf

By organisation
Production Engineering
Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 63 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 90 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf