Assembly Line Balancing with Collaborative Robots Under Uncertainty of Human Processing Times

This paper studies the assembly line balancing problem with collaborative robots in light of recent efforts to implement collaborative robots in industrial production systems under random processing time. A stochastic version with uncertain human processing time is considered for the first time. The issue is defined by the potential for simultaneous human and robot task execution at the same workpiece, either in parallel or in collaboration. We provide stochastic mixed-integer programming based on Monte Carlo sampling approach for the balancing and scheduling of collaborative robot assembly lines for this novel issue type. In order to minimise the line cost including fixed workstation operating costs and resource costs caused by exceeding cycle time, the model determines both the placement of collaborative robots at stations and the distribution of work among humans and robots.