GREGOR Chair Assembly System

A product from everyday life, the IKEA Gregor chair, is used as a case study to demonstrate the applicability of the Cyber-Physical Microservices IoT Framework.

The IKEA GREGOR chair system is used as a case study in the following papers.

K. Thramboulidis, I. Kontou, D. Vachtsevanou, “Towards an IoT-based Framework for Evolvable Assembly Systems", 16th IFAC Symposium on Information Control Problems in Manufacturing (INCOM 2018), 11-13 June, 2018, Bergamo, Italy.K. Thramboulidis, D. Vachtsevanou, I. Kontou, “CPuS-IoT: A cyber-physical microservice and IoT-based framework for manufacturing assembly systemsAnnual Reviews in Control 47 (2019) 237-248.

The figure presents the layout of an assembly platform that can be used to realize the assembly process of the Gregor office chair.

Assembly operations are performed by three robots, i.e., R1, R2 and R3.

Workbench 1 has three fixtures (Fi) and is rotating. Thus, each fixture passes sequentially through the three positions (pos1, pos2 and pos3) for the assembly to be completed.

Robot1 (R1) and Robot2 (R2) move on axis to work on pos1 and pos2 respectively.

More information on the Gregor Chair case study can be found here and here

We do not claim that this is the optimal configuration of the assembly platform, but it can be used to demonstrate our approach.

Layout of an assembly platform that can be used to realize the assembly process of the Gregor office chair.

A prototype implementation of the IKEA GREGOR chair case study using LwM2M, microservices (more specifically CPuSs), containers and robotic arms was implemented as part of theses of Nikolaos Nikitas and Achilleas Triantafillou. (video). The electrical and electronic construction was developed mainly by Nikolaos Nikitas.

A prototype implementation of the IKEA GREGOR chair case study using MQTT was implemented as part of the thesis of Serafeim Vylliotis. (video)

The first prototype implementation of the IKEA GREGOR chair case study was implemented using lwM2M by Ioanna Kontou, Achilleas Triantafillou and Nikolaos Nikitas in the context of their Theses. (video of the visualizer of the prototype implementation)