2019 年 85 巻 875 号 p. 18-00491
To accommodate highly-mixed variable-volume assembly production, a human-robot cooperative production line utilizing a robotic cell is promising. A robotic cell is equipped with an industrial robot of which motion plans can be switched depending on the product variation. The motion plans should be switched quickly as possible on the demand from market, but the planning is one of the time-consuming tasks. This study aims to develop an automatic planning method for assembly motion using the geometric constraint conditions on 3D CAD data of the products. It was found that reduction of planning work-time by 61% can be achieved compared with the manual planning method.