Two approaches in modeling of assembly/disassembly line with integrated manipulator mounted on mobile platform

In this paper, two Petri Nets (PN) models of an assembly line and of an integrated mobile platform equipped with manipulator are proposed in order to perform disassembly. The first model is a discrete event model, where, both, the assembly/disassembly line and wheeled mobile robot (WMR) equipped with robotic manipulator (RM) are considered as discrete systems. The second model is a hybrid system in which the line is the discrete event system (DES) and the WMR together with the RM is the continuous system. To the first model, Temporized Petri Nets (TPN) are used in order to model assembly/disassembly tasks of the manufacturing line served by RM mounted on WMR. The WMR is involved only in disassembling operations in order to transport the work pieces from the disassembling locations to the storage locations. To the second model, the cycle performed by the WMR equipped with robotic manipulator is considered as a continuous system. Therefore, Hybrid Petri Nets (HPN) are 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 robots synchronization with flexible line process. Therefore, assembling line becomes reversible.