Table 4 Information of parts.
From: Digital twin-based multi-level task rescheduling for robotic assembly line
Part | Tools | Location (mm) | Basic assembly time (s) |
|---|---|---|---|
1 | Gripper-I | (422, 500, − 524.9) | 1 |
2 | spanner-I | (452, 507.3, − 540.8) | 4 |
3 | Gripper-II | (462, 507.3, − 540.8) | 2 |
4 | Gripper-II | (474.3, 507.3, − 540.8) | 3 |
5 | spanner-II | (479.9, 507.3, − 540.8) | 5 |
6 | spanner-I | (452, 492.7, − 509) | 4 |
7 | Gripper-II | (462, 492.7, − 509) | 2 |
8 | Gripper-II | (474.3, 492.7, − 509) | 3 |
9 | spanner-II | (479.9, 492.7, − 509) | 5 |
10 | spanner-II | (457.7, 515.9, − 517.6) | 5 |
11 | Gripper-II | (459, 515.9, − 517.6) | 3 |
12 | Gripper-II | (470, 515.9, − 517.6) | 2 |
13 | spanner-I | (480, 515.9, − 517.6) | 4 |
14 | spanner-II | (457.7, 484.1, − 532.2) | 5 |
15 | Gripper-II | (459, 484.1, − 532.2) | 3 |
16 | Gripper-II | (470, 484.1, − 532.2) | 2 |
17 | spanner-I | (480, 484.1, − 532.2) | 4 |
18 | Gripper-I | (467.5, 500, − 524.9) | 1 |
19 | Gripper-I | (470, 500, − 524.9) | 1 |
… | … | … | … |
31 | Gripper-II | (530, 515.9, − 517.6) | 2 |
32 | spanner-I | (520, 515.9, − 517.6) | 4 |
33 | spanner-II | (547.9, 484.1, − 532.2) | 5 |
34 | Gripper-II | (542.3, 484.1, − 532.2) | 3 |
35 | Gripper-II | (530, 484.1, − 532.2) | 2 |
36 | spanner-I | (520, 484.1, − 532.2) | 4 |
37 | Gripper-I | (532.5, 500, − 524.9) | 1 |
