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Two mobile robotic systems synchronous servicing an Assembly/Disassembly production line

This paper proposes a model for a reversible assembly line useful in order to analyze its structural properties. Wheeled mobile robots (WMRs) equipped with robotic manipulator are used in the disassembly operation. The developed model can be used in the stages of designing, configuring and sizing of an Assembly/Disassembly Mechatronic Line (A/DML). For the control and monitoring of an A/DML a Hybrid Petri Net (HPN) model is proposed. In order to facilitate the transformation of the developed HPN model into models useful for supporting the design of control algorithms, a methodology to transform arcs in synchronization events is outlined. The decomposition of Hybrid Petri Net in Synchronized Hybrid Petri Nets (SHPN) suitable for specific programming language is discussed. Finally, results from the simulation of HPN are compared with that recorded from the real A/DML.