Task Planning Algorithm in Hybrid Assembly/Disassembly Process

A model of a mechatronic assembly/disassembly line served by a robotic manipulator mounted on mobile platform, in order to perform disassembly, is proposed in this paper. The model is a hybrid one in which the mechatroninc line is the discrete system and the wheeled mobile robot (WMR) together with the robotic manipulator (RM) is considered the continuous system. The mobile platform is used only in disassembling operations in order to transport the components from the disassembling locations to the storage locations. The cycle performed by the WMR equipped with RM is the continuous part of the hybrid system. Therefore, a Hybrid Petri Net (HPN) is used in modeling and control. This hybrid system takes into consideration the distribution of the necessary tasks to perform the hybrid disassembly of a component, using robot synchronization with flexible line process. The ultimate goal is to make completely reversible the assembly line, that is to execute full disassembly.