2021 年 34 巻 4 号 p. 98-106
This paper describes comparative analyses of time-efficient multi-arm assembly using a task board for a belt drive unit. The task board was used for the World Robot Summit (WRS) 2018 competition. From the viewpoint of using multiple arms, handling multiple parts simultaneously, and representing assembly both by robot systems and by human subjects, this paper introduces the set that shows only the contact condition between the arm and the part to arrange the time series data easily. Based on this analysis, there is a significant difference in the whole work time between the robot systems and the human subjects. One of the reasons is the difference in the usage of multiple arms. It will be important for robot systems to utilize multiple arms simultaneously to realize the time-efficient multi-arm assembly.