Digital Twin Development for Serial Manipulators: Data Driven Optimized Planning and Sequencing of Tasks
Figure 10: The implementations on the cobot cell and docking station with RAMI 4.0 layers and MMC based digital twin model
Challenges faced; Limitations & Lessons
learned
For example, the shaft assembly process of a
whole gearbox assembly is designed to
follow the fixed sequence of cobot motions
for the conventional work orders. To change
the fixed configurations, adding an industrial
PLC as a cobot motion controller permits
more flexible and adaptive motion
sequences of the shaft assembly process
demanded by any particular customized
order. However, handshaking of signals
between the PLC and robot controller is
required to perform customized shaft
assemblies, and those hardware must be
connected and integrated with other assets
through the IoT platform. After this function
is created, the limitation of carrying out the
business of new shaft sub-assembly
Establishing the connectivity and integration
between associated assets is essential to
complete
new
gearbox
assembly
configurations demanded from any
customized sale order. Amending some
hardware and software configurations to
integrate with the assets are definitely
required, but they are challenging. Due to
the nature of customized assembly
configurations, the existing work flow and
procedure of the shaft assembly process
require to be reviewed and modified when
necessary, as there are some technical
limitations to implement changes in the
current work setting in this use case.
IIC Journal of Innovation
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