Tai ngay!!! Ban co the xoa dong chu nay!!! Frontiers of Assembly and Manufacturing Sukhan Lee, Raúl Suárez, and Byung-Wook Choi Frontiers of Assembly and Manufacturing Selected Papers from ISAM 2009 ABC Prof Sukhan Lee School of Information and Communication Sungkyunkwan University 300 Chunchun-Dong, Jangan-Ku Kyunggi-Do 440-746 Korea E-mail: lsh@ece.skku.ac.kr Dr Rẳl Srez Feijóo Researcher IOC-UPC Av Diagonal 647, planta 11 08028 Barcelona, Spain E-mail: raul.suarez@upc.edu ISBN 978-3-642-14115-7 Dr Byung-Wook Choi International Affairs Center and Principal Researcher Div of Advanced Robot Technology and Director, Korea IMS Center Korea Institute of Industrial Technology (KITECH) 1271-18, Sa-1-dong, Sangrok-gu Ansan-si 426-791 Korea Email: bwchoi@kitech.re.kr e-ISBN 978-3-642-14116-4 DOI 10.1007/978-3-642-14116-4 Library of Congress Control Number: 2010929749 c 2010 Springer-Verlag Berlin Heidelberg  This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer Violations are liable to prosecution under the German Copyright Law The use of general descriptive names, registered names, trademarks, etc in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use Typesetting: Data supplied by the authors Production & Cover Design: Scientific Publishing Services Pvt Ltd., Chennai, India Printed on acid-free paper 987654321 springer.com Preface The technologies for product assembly and manufacturing evolve along with the advancement of enabling technologies such as material science, robotics, machine intelligence as well as information and communication Furthermore, they may be subject to fundamental changes due to the shift in key product features and/or engineering requirements The enabling technologies emerging offer new opportunities for moving up the level of automation, optimization and reliability in product assembly and manufacturing beyond what have been possible We see assembly and manufacturing becoming more Intelligent with the perception-driven robotic autonomy, more flexible with the human-robot coupled collaboration in work cells, and more integrated in scale and complexity under the distributed and networked frameworks On the other hand, the shift in key product features and engineering requirements dictates the new technologies and tools for assembly and manufacturing to be developed This may be exemplified by a high complexity of micro/nano system products integrated and packaged in 3D with various heterogeneous parts, components, and interconnections, including electrical, optical, mechanical as well as fluidic means The objective of this volume is to show how the assembly and manufacturing technologies evolve along with the advancement of enabling technologies and how the emergence of a high complexity of micro/nano system products dictate the development of new technologies and tools for their assembly and manufacturing To this end, we have chosen 19 papers, top-rated yet relevant, out of the 76 papers accepted to present at the 8th IEEE International Symposium on Assembly and Manufacturing The 19 papers chosen are further revised into the final manuscripts for book chapters that are organized into three parts: Part I: Fixture, Grasping and Manipulation in Assembly and Manufacturing, Part II: Micro/Macro Assembly and Disassembly, and Par III: Manufacturing System Scheduling and Control Part I, II and III are reviewed and organized by the co-editors of this volume, Prof Raul Suarez, Prof Sukhan Lee and Dr Byungwook Choi, respectively Wishing that readers find this volume stimulating and informative … Sukhan Lee Raúl Suárez Byungwook Choi Contents Chapter I: Fixturing, Grasping and Manipulation in Assembly and Manufacturing Summary by Ra´ ul Su´ arez Dual Arm Robot Manipulator and Its Easy Teaching System Chanhun Park, Kyoungtaik Park, Dong IL Park, Jin-Ho Kyung Calibration of Relative Position between Manipulator and Work by Point-to-Face Touching Method Toru Kubota, Yasumichi Aiyama 21 Cutter Accessibility Analysis of a Part with Geometric Uncertainties Masatomo Inui, Kazuhiro Maida, Yuji Hasegawa 35 Automatic Determination of Fixturing Points: Quality Analysis for Different Number of Points and Friction Values Jan Rosell, Ra´ ul Su´ arez, Francesc Penalba Contact Trajectories for Regrasp Planning on Discrete Objects M´ aximo A Roa, Ra´ ul Su´ arez 53 69 Modeling of Two-Fingered Pivoting Skill Based on CPG Yusuke Maeda, Tatsuya Ushioda 85 Chapter II: Micro/Macro Assembly and Disassembly Summary by Sukhan Lee 97 VIII Contents Assembly of 3D Reconfigurable Hybrid MOEMS through Microrobotic Approach Kanty Rabenorosoa, Sylwester Bargiel, C´edric Cl´ecy, Philippe Lutz, Christophe Gorecki 99 Modified Assembly Systems and Processes for the Mounting of Electro-Optical Components 113 J Franke, D Craiovan Factory Level Logistics and Control Aspects for Flexible and Reactive Microfactory Concept 127 Eeva Jă arvenpă aă a, Riku Heikkilă a, Reijo Tuokko Development of Structured Light Based Bin–Picking System Using Primitive Models 141 Jong-Kyu Oh, KyeongKeun Baek, Daesik Kim, Sukhan Lee Airframe Dismantling Optimization for Aerospace Aluminum Valorization 157 Julie Latremouille-Viau, Pierre Baptiste, Christian Mascle A Monitoring Concept for Co–operative Assembly Tasks 171 Jukka Koskinen, Tapio Heikkilă a, Topi Pulkkinen Chapter III: Manufacturing System Scheduling and Controlling 185 Summary by Byung-Wook Choi Printing Pressure Control Algorithm of Roll-to-Roll Web System for Printed Electronics 187 Kyung-Hyun Choi, Tran Trung Thanh, Yang Bong Su, Dong-Soo Kim Adding Diversity to Two Multiobjective Constructive Metaheuristics for Time and Space Assembly Line Balancing 211 ´ Manuel Chica, Oscar Cord´ on, Sergio Damas, Joaqu´ın Bautista Construction and Application of a Digital Factory for Automotive Paint Shops 227 Yang Ho Park, Eon Lee, Seon Hwa Jeong, Gun Yeon Kim, Sang Do Noh, Cheol-woong Hwang, Sangil Youn, Hyeonnam Kim, Hyunshik Shin Resource Efficiency in Bodywork Parts Production 239 Reimund Neugebauer, Andreas Sterzing Contents IX Self-Tracking Order Release for Changing Bottleneck Resources 253 Matthias Hă usig Integrated Operational Techniques for Robotic Batch Manufacturing Systems 265 Satoshi Hoshino, Hiroya Seki, Yuji Naka, Jun Ota A Mathematical Model for Cyclic Scheduling with Assembly Tasks and Work-In-Process Minimization 279 Mohamed Amin Ben Amar, Herv´e Camus, Ouajdi Korbaa Author Index 293 Chapter I Fixturing, Grasping and Manipulation in Assembly and Manufacturing Summary by Raúl Su