Esnek Robotik Hücrelerin Süreç Odaklı Petri Ağlarıyla Modellenmesi

Abstract

Nowadays, as the competition is getting increasing, it is very important for the companies to meet the demands in a shorter time and to produce the products in a shorter time and variety. Flexible manufacturing systems are used in factories to increase productivity and efficiency in order to meet increasing customer demands on time. Flexible manufacturing systems, systems in intensive automation and technology-based production made, which is designed to produce more than one type of part in small or medium volume effectively, is composed of computer-aided machines and computers that control machines’ operation. By making customer-oriented production it aims to keep pace with the changes in the demand for product types. With Industry 4.0, while it becomes more important for

iv plants to increase their individual flexibility and productivity, in production systems flexible robotic cells will become dominant. Flexible robotic cells are a more flexible and agile production systems, consisting of robots and machines, where a robot performs loading and unloading operations on machines, with input and output storage areas. In robotic cells, the processes required by a part are performed by different machines, while in the flexible robotic cells, all the processes of the part can be done by a single machine. In flexible robotic cells, the presence of buffer and the number of grippers of the robot are important factors affecting the productivity of the system. In order to get the maximum output in the shortest time by reducing the idle times of machines and robot, the activity order of the robot in flexible production cells is of great importance. In the literature, there are mathematical studies on this subject. In theory, it is sometimes possible to find the optimum sequences, but sometimes the optimum results are only get closed. Obtained solutions in theory with mathematical models may not be applied in real life, they may not work. Therefore, it can be investigated by taking advantage of petri nets whether the theoretically obtained solutions are working in reality. Petri nets are a powerful, graphical language that can be used to represent activities in the system. Various modeling methods are available, such as resource-oriented, process-oriented, colored petri nets. In this study, modeling of flexible robotic cells with process-oriented petri nets is shown. At the end of the study, by building the petri net models of the cell with the intermediate buffer and the cell without intermediate buffer where the robot has a dual gripper, their productivity is compared. As a result, it has been found that the model of the cell with intermediate buffers does not work for the given sequence when the processing time is 120 seconds, and the cell with the dual gripper robot provides more efficient results for 30 seconds processing time.