Module 3 - Manual Assembly Lines Sections: 1. Fundamentals of Manual Assembly Lines 2. Analysis of Single Model Assembly Lines 3. Line Balancing Algorithms 4. Mixed Model Assembly Lines 5. Workstation Considerations 6. Other Considerations in Assembly Line Design 7. Alternative Assembly Systems Manual Assembly Line Defined A production line consisting of a sequence of workstations where assembly tasks are performed by human workers as the product moves along the line Organized to produce a single product or a limited range of products Each product consists of multiple components joined together by various assembly work elements Total work content - the sum of all work elements required to assemble one product unit on the line Manual Assembly Lines Factors favoring the use of assembly lines: High or medium demand for product Identical or similar products Total work content can be divided into work elements It is technologically impossible or economically infeasible to automate the assembly operations Most consumer products are assembled on manual assembly lines Why Assembly Lines are so Productive Specialization of labor Learning curve Interchangeable parts Components made to close tolerances Work flow principle Products are brought to the workers Line pacing Workers must complete their tasks within the cycle time of the line Manual Assembly Line Configuration of a manual assembly line with n manually operated workstations Typical Products Made on Assembly Lines Automobiles Personal computers Cooking ranges Power tools Dishwashers Refrigerators Dryers Telephones Furniture Toasters Lamps Trucks Luggage Video DVD players Microwave ovens Washing machines Manual Assembly Line Products are assembled as they move along the line At each station a portion of the total work content is performed on each unit Base parts are launched onto the beginning of the line at regular intervals (cycle time) Workers add components to progressively build the product Assembly Workstation It is a designated location along the work flow path at which one or more work elements are performed by one or more workers Typical operations performed at manual assembly stations Adhesive application Electrical connections Snap fitting Sealant application Component insertion Soldering Arc welding Press fitting Stitching/stapling Spot welding Riveting Threaded fasteners Assembly Workstation For manual assembly line, manning level (M) of workstation i, symbolized by Mi, is the number of workers assigned to that station, where i =1, 2 ….n, and n is number of workstations on the line For larger products such as assembly of a truck, Mi >1 Average manning level of manual assembly line is: 𝑤 𝑀= 𝑛 where w is the number of workers on the assembly line Assembly Workstation However, manual assembly lines often include utility workers that are not assigned to any specific workstation Utility workers help workers who fall behind, relieve workers for personal breaks, and perform material handling and maintenance tasks Including utility workers we have: 𝑀= 𝑛 𝑖=1 𝑤𝑖 𝑤𝑢 + 𝑛 where 𝑤𝑢 is the number of utility workers assigned to the system Work Transport Systems Two basic categories: Manual Mechanized Manual Work Transport Systems Work units are moved between stations by the workers without the aid of a powered conveyor Types: Work units moved in batches Work units moved one at a time Problems: Starving of stations Blocking of stations No pacing Mechanized Work Transport Systems Work units are moved by powered conveyor or other mechanized apparatus Categories: Work units attached to conveyor Work units are removable from conveyor Problems Starving of stations Incomplete units Types of Mechanized Work Transport Continuous transport Conveyor moves at constant speed Synchronous transport Work units are moved simultaneously with stop-andgo (intermittent) motion to next stations Asynchronous transport Work units are moved independently between workstations Queues of work units can form in front of each station Continuous Transport Conveyor moves at constant velocity vc Synchronous Transport All work units are moved simultaneously to their respective next workstations with quick, discontinuous motion Asynchronous Transport Work units move independently, not simultaneously. A work unit departs a given station when the worker releases it. Small queues of parts can form at each station. Material Handling Equipment for Mechanized Work Transport Continuous transport Synchronous transport Asynchronous transport Overhead trolley conveyor Belt conveyor Drag chain conveyor Walking beam Rotary indexing machine Power-and-free conveyor Cart-on-track conveyor Automated guided vehicles Power and free conveyor The defining feature of a power and free conveyor is that it consists of two tracks — an upper track powered by a chain, and the lower track is unpowered. Trolleys, which carry the load, run on the lower track, supported by rolling wheels. Pusher dogs on the powered track engage with the trolleys to move them and disengage with the trolleys to stop them Unlike traditional linear conveyors, power and free versions can allow products to accumulate, or “stack up” by holding trolleys stationary while other trolleys “catch up” and join them. Cart-on-track conveyor Cart-On-Track Conveyor has a track on it and the cart can be driven on the track. These carts are transported by rotating a tube. There is drive wheel connected to each cart that rests on the tube and that is used to vary the speed of the cart . These carts are independently controlled by tubes and multiple carts can be located on the tube. Accumulation is achieved by maintaining the drive wheel parallel to the tube. Automated guided vehicles Computer-controlled and wheel-based, automatic guided vehicles (AGV) are load carriers that travel along the floor of a facility without an onboard operator or driver. Their movement is directed by a combination of software and sensor-based guidance systems. Because they move on a predictable path with precisely controlled acceleration and deceleration, automatic obstacle detection bumpers. and include Line Pacing A manual assembly line operates at a certain cycle time On average, each worker must complete his/her assigned task within this cycle time Pacing provides a discipline for the assembly line workers that more or less guarantees a certain production rate for the line Several levels of pacing: 1. Rigid pacing 2. Pacing with margin 3. No pacing Rigid Pacing Each worker is allowed only a certain fixed time each cycle to complete the assigned task Allowed time is set equal to the cycle time less repositioning time Synchronous work transport system provides rigid pacing Undesirable aspects of rigid pacing: Incompatible with inherent human variability Emotionally and physically stressful to worker Incomplete work units if task not completed Pacing with Margin Worker is allowed to complete the task within a specified time range, the upper limit of which is greater than the cycle time On average, the worker’s average task time must balance with the cycle time of the line How to achieve pacing with margin: Allow queues of work units between stations Provide for tolerance time to be longer than cycle time Allow worker to move beyond station boundaries No Pacing No time limit within which task must be completed Each assembly worker works at his/her own pace No pacing can occur when: Manual transport of work units is used Work units can be removed from the conveyor to perform the task An asynchronous conveyor is used Coping with Product Variety Single model assembly line (SMAL) Every work unit is the same Batch model assembly line (BMAL) Hard product variety Products must be made in batches Mixed model assembly line (MMAL) Soft product variety Models can be assembled simultaneously without batching MMAL vs. BMAL Advantages of mixed model lines over batch models lines: No lost production time between models High inventories typical of batch production are avoided Production rates of different models can be adjusted as product demand changes Analysis of single model assembly lines Product demand is usually expressed as annual quantity which can be reduced to an hourly rate Assuming that the plant operates N weeks per year, the required hourly production rate, 𝑅𝑝 is given by: 𝐷𝑎 𝑅𝑝 = 𝑁𝑆𝑤 𝐻𝑠ℎ where 𝐷𝑎 is annual demand for a single product, 𝑆𝑤 is number of shifts per week, 𝐻𝑠ℎ is number of hours per shift 𝑅𝑝 must be converted to a cycle time 𝑇𝑐 which is the time interval for operating the line 60𝐸 𝑇𝑐 = 𝑅𝑝 where 𝑇𝑐 is cycle time of the line in mins/cycle, E is the line efficiency, and the constant 60 converts hourly production rate to cycle time in mins Cycle time 𝑇𝑐 establishes the ideal cycle rate, 𝑅𝑐 of the line 60 𝑅𝑐 = 𝑇𝑐 𝑅𝑐 must be > 𝑅𝑝 since a line may not be 100% efficient 𝑅𝑝 𝑇𝑐 𝐸= = 𝑅𝑐 𝑇𝑝 This is due to lost production time from equipment breakdowns, power outages, quality problems, labour problems etc. An assembled product requires a certain total amount of time to build called work content time (𝑇𝑤𝑐 ) To determine the number of workers, w, on the production line: 𝑊𝐿 𝑤= 𝐴𝑇 60𝐸𝑇𝑤𝑐 and 𝑊𝐿 = 𝑅𝑝 𝑇𝑤𝑐 or 𝑊𝐿 = 𝑇𝑐 where WL is workload to be accomplished over a period of time, and AT is the available time in the period. The theoretical minimum number of workers, 𝑤 ∗ is computed as 𝑇𝑤𝑐 ∗ 𝑤 = 𝑀𝑖𝑛𝑖𝑚𝑢𝑚 𝑖𝑛𝑡𝑒𝑔𝑒𝑟 ≥ 𝑇𝑐 Achieving the theoretical minimum value in practice is difficult because of repositioning losses and line balancing problem (it is difficult to divide the work content time evenly amongst all workstations Repositioning losses Repositioning losses on a production line occur because some time is required each cycle to reposition the worker or the work unit or both Repositioning time, (𝑇𝑟 ) must be subtracted from 𝑇𝑐 to obtain the available time remaining to perform assembly task at each station as the service time, 𝑇𝑠𝑖 Maximum service time occurs at bottleneck station and can be described as: 𝑀𝑎𝑥 𝑇𝑠𝑖 ≤ 𝑇𝑐 − 𝑇𝑟 Components of Cycle Time Tc 𝑇𝑠 𝐸𝑟 = 𝑇𝑐 Components of cycle time at several workstations on a manual assembly line. At the bottleneck station, there is no idle time. where 𝐸𝑟 is the repositioning efficiency Line Balancing Problem Given: • Total work content consists of many distinct work elements • The sequence in which the elements can be performed is restricted • The line must operate at a specified cycle time Problem: • To assign the individual work elements to workstations so that all workers have an equal amount of work to perform Line Balancing Problem Total work content time 𝑇𝑤𝑐 𝑛𝑒 𝑇𝑤𝑐 = 𝑇𝑒𝑘 𝑘=1 where 𝑇𝑒𝑘 = work element time for element k Work elements are assigned to station i that add up to the service time for that station 𝑇𝑠𝑖 = 𝑇𝑒𝑘 𝑘𝜀𝑖 The station service times must add up to the total work content time 𝑛 𝑇𝑤𝑐 = 𝑇𝑠𝑖 𝑖=1 Measures of Balance Efficiency It is almost impossible to obtain a perfect line balance due to differences in minimum rational work element times and precedence constraints among elements Line balance efficiency, 𝐸𝑏 : 𝑇 𝑤𝑇𝑠 𝐸𝑏 = 𝑤𝑐 where 𝑇𝑠 is maximum available service time on line 𝑀𝑎𝑥 𝑇𝑠𝑖 Perfect line is when 𝐸𝑏 = 1 Balance delay, d : 𝑑= 𝑤𝑇𝑠 −𝑇𝑤𝑐 𝑤𝑇𝑠 Perfect line: d = 0 Note that 𝐸𝑏 + d = 1 (they are complement of each other) Overall Labor efficiency on the assembly line = 𝐸𝐸𝑟 𝐸𝑏 The challenge lies with establishing the relationship before the line is built and operated Line Balancing Algorithms The objective in line balancing is to distribute the total work content on the assembly line as evenly as possible among the workers 𝑀𝑖𝑛𝑖𝑚𝑖𝑠𝑒 𝑤𝑇𝑠 − 𝑇𝑤𝑐 𝑜𝑟 𝑀𝑖𝑛𝑖𝑚𝑖𝑠𝑒 𝑤 𝑖=1 𝑇𝑠 − 𝑇𝑠𝑖 subject to 𝑇𝑒𝑘 ≤ 𝑇𝑠 𝑘𝜀𝑖 𝐴𝑙𝑙 𝑝𝑟𝑒𝑐𝑒𝑑𝑒𝑛𝑐𝑒 𝑟𝑒𝑞𝑢𝑖𝑟𝑒𝑚𝑒𝑛𝑡𝑠 𝑎𝑟𝑒 𝑜𝑏𝑒𝑦𝑒𝑑 Line Balancing Algorithms Largest Candidate Rule Assignment of work elements to stations based on amount of time each work element requires Kilbridge and Wester Method Assignment of work elements to stations based on position in the precedence diagram Elements at front of diagram are assigned first Ranked Positional Weights Combines the two preceding approaches by calculating an RPW for each element Mixed Model Assembly Lines A manual production line capable of producing a variety of different product models simultaneously and continuously (not in batches) Problems in designing and operating a MMAL: Determining number of workers on the line Line balancing - same basic problem as in SMAL except differences in work elements among models must be considered Model launching - determining the sequence in which different models will be launched onto the line Determining number of workers in Mixed Model Assembly Lines To determine the number of workers, w, for mixed model 𝑊𝐿 assembly line: 𝑤 = and 𝐴𝑇 𝑃 𝑊𝐿 = 𝑅𝑝𝑗 𝑇𝑤𝑐𝑗 𝑗=1 where WL is workload to be accomplished over a scheduled period of time, and AT is the available time per worker in the period. P is number of models to be produced and j is used to identify the model The theoretical minimum number of workers, 𝑤 ∗ is computed as 𝑊𝐿 ∗ 𝑤 = 𝑀𝑖𝑛𝑖𝑚𝑢𝑚 𝑖𝑛𝑡𝑒𝑔𝑒𝑟 ≥ 60𝐸 𝐴𝑇 = 60𝐸𝐸𝑟 𝐸𝑏 where E is line efficiency, 𝑬𝒓 is repositioning efficiency, 𝑬𝒃 is balance efficiency. Mixed Model Assembly Line Balancing Objective To distribute the total work content on the assembly line as evenly as possible among the workers The objective can be expressed as: 𝑤 𝑀𝑖𝑛𝑖𝑚𝑖𝑠𝑒 𝑤𝐴𝑇 − 𝑊𝐿 𝑜𝑟 𝑀𝑖𝑛𝑖𝑚𝑖𝑠𝑒 𝐴𝑇 − 𝑇𝑇𝑠𝑖 𝑖=1 where w is number of workers assuming that Mi =1, so that n = w. AT is available time in the period of interest (min), and 𝑇𝑇𝑠𝑖 is total service time at station i to perform its assigned portion of the workload in mins. 𝑃 𝑊𝐿 = 𝑅𝑝𝑗 𝑇𝑤𝑐𝑗 𝑗=1 Total time per element, 𝑇𝑇𝑘 is: 𝑃 𝑇𝑇𝑘 = 𝑅𝑝𝑗 𝑇𝑒𝑗𝑘 𝑗=1 Total service time at each station is computed as: 𝑃 𝑇𝑇𝑠𝑖 = 𝑇𝑇𝑘 𝑘𝜀𝑖 where 𝑇𝑇𝑠𝑖 is total service time at station i Balance efficiency, 𝐸𝑏 is computed as 𝑊𝐿 𝐸𝑏 = 𝑤 𝑀𝑎𝑥 𝑇𝑇𝑠𝑖 where 𝑀𝑎𝑥 𝑇𝑇𝑠𝑖 is the maximum value of total service time among all stations Precedence Constraints Restrictions on the order in which work elements can be performed Precedence diagram MMAL vs. BMAL Difficulties with mixed model line compared to batch model line Line balancing problem more complex due to differences in work elements among models Scheduling the sequence of the different models is a problem Logistics is a problem - getting the right parts to each workstation for the model currently there Cannot accommodate as wide model variations as BMAL Model launching in Mixed Model Lines In a single-model line, this time interval is constant and set equal to the cycle time Tc. The same applies for a batch-model line, but Tc is likely to differ for each batch because the models are different and their production requirements are probably different. In a mixed-model line, model launching is more complicated because each model is likely to have a different work content time, which translates into different station service times. Thus, the time interval between launches and the selection of which model to launch are interdependent. Model launching in Mixed Model Lines For example, if a series of models with high work content times are launched at short time intervals, the assembly line will quickly become congested (overwhelmed by too much work). On the other hand, if a series of models with low work content times are launched at long time intervals, then stations will be starved for work (with resulting idleness). Neither congestion nor idleness is desirable. Determining the time interval between successive launches is referred to as the launching discipline, 2 approaches are: Variable rate launching Variable rate launching – the time interval between the launching of the current base part and the next is set equal to the cycle time of the current item 𝑇𝑤𝑐𝑗 𝑇𝑐𝑣 𝑗 = 𝑤𝐸𝑟 𝐸𝑏 where 𝑻𝒄𝒗 𝒋 is time interval before the next launch in variable-rate launching, w is number of workers on the line, 𝑻𝒘𝒄𝒋 is work content time of the product just launched (model j) in mins, 𝑬𝒓 is repositioning efficiency, 𝑬𝒃 is balance efficiency. Variable rate launching The advantage of VRL is that units can be launched in any order without causing idle time or congestion at w/s, as long as the specified model mix is achieved by the end of the shift. The model mix can be readily adjusted to adapt to changes in demand for the various products made on the line. However, the work carriers on a moving conveyor are usually located at constant intervals along its length and so the work units must be attached only at these positions. This is not compatible with VRL which presumes that work units can be attached at any location along the conveyor corresponding to the VRL interval Tcv for the preceding model. Fixed rate launching for two models In Fixed rate launching, the time interval between 2 consecutive launches, 𝑻𝒄𝒇 is constant. The launching discipline is usually set by the speed of a conveyor and the spacing between work carriers. The schedule must also be consistent with the time and manpower available on the line, so 𝐸𝑟 and line 𝐸𝑏 must be figured in. 1 𝑃 𝑅𝑝 𝑗=1 𝑅𝑝𝑗 𝑇𝑤𝑐𝑗 𝑇𝑐𝑓 = 𝑤𝐸𝑟 𝐸𝑏 Where 𝑻𝒄𝒇 is in mins, 𝑹𝒑𝒋 is production rate of model j in units/hr, 𝑻𝒘𝒄𝒋 is work content time of model j in min/unit, 𝑹𝒑 is total production rate of all models, P is number of models produced, 𝑬𝒓 is repositioning efficiency, 𝑬𝒃 is balance efficiency. Fixed rate launching for two models Congestion and idle time can be identified in each successive launch as the difference between the cumulative fixed rate launching interval and the sum of the launching intervals for the individual models launched on the line. 𝑚 𝐶𝑜𝑛𝑔𝑒𝑠𝑡𝑖𝑜𝑛 𝑡𝑖𝑚𝑒 𝑜𝑟 𝑖𝑑𝑙𝑒 𝑡𝑖𝑚𝑒 = 𝑇𝑐𝑗ℎ − 𝑚𝑇𝑐𝑓 ℎ=1 where 𝑻𝒄𝒇 is fixed rate launching interval in mins, m is launch sequence during the period, h is launch index number for summation purposes, 𝑻𝒄𝒋𝒉 is cycle time associated with model j in launch position h, calculated as: 𝑇𝑐𝑗ℎ = 𝑇𝑤𝑐𝑗 𝑤𝐸𝑟 𝐸𝑏 Fixed rate launching for two models Congestion is realised when the previous equation on “ 𝐶𝑜𝑛𝑔𝑒𝑠𝑡𝑖𝑜𝑛 𝑡𝑖𝑚𝑒 𝑜𝑟 𝑖𝑑𝑙𝑒 𝑡𝑖𝑚𝑒 “ yields a positive difference, indicating that the actual sum of task times for the models thus far launched (m) exceeds the planned cumulative task time Idle time yields a negative difference, indicating that the actual sum of task times for the models is less than the planned time for the current launch (m) It is desirable to minimize both congestion and idle time, so 𝑚 𝐹𝑜𝑟 𝑒𝑎𝑐ℎ 𝑙𝑎𝑢𝑛𝑐ℎ 𝑚, 𝑠𝑒𝑙𝑒𝑐𝑡 𝑗 𝑡𝑜 𝑚𝑖𝑛𝑖𝑚𝑖𝑠𝑒 𝑇𝑐𝑗ℎ − 𝑚𝑇𝑐𝑓 ℎ=1 2 Fixed rate launching for three or more models There is an additional term for three or more models, which is 𝑅𝑝𝑗 𝑄𝑗𝑚 where 𝑹𝒑𝒋 is the quantity of model j to be produced during the period, 𝑸𝒋𝒎 is quantity of model j units remaining to be launched during the period as m (number of launches) increases, units/hr The fixed rate launching procedure can be expressed as: 𝑚 𝑅𝑝𝑗 2 𝐹𝑜𝑟 𝑒𝑎𝑐ℎ 𝑙𝑎𝑢𝑛𝑐ℎ 𝑚, 𝑠𝑒𝑙𝑒𝑐𝑡 𝑗 𝑡𝑜 𝑚𝑖𝑛𝑖𝑚𝑖𝑠𝑒 𝑇𝑐𝑗ℎ − 𝑚𝑇𝑐𝑓 + 𝑄𝑗𝑚 ℎ=1 The effect of the additional term is to reduce chances that a unit of any model j will be selected for launching as the number of units of that model already launched during the period increases. Workstation Considerations A workstation is a position along the assembly line where one or more workers perform assembly tasks 𝑤 𝑛= 𝑀 A workstation has a length 𝐿𝑠𝑖 where i denotes station i Total length of assembly line, L in m or feet is 𝑛 𝐿= 𝐿𝑠𝑖 𝑖=1 A constant speed conveyor is a common transport system in manual assembly lines Base parts are launched at the beginning of the line at a constant pace equal to 𝑇𝑐 Workstation Considerations The feed rate of the conveyor is simply the reciprocal of 𝑇𝑐 1 𝑓𝑝 = 𝑇𝑐 where 𝑓𝑝 is feed rate on the line, in products/min A constant feed rate on a constant speed conveyor provides a centre to centre distance, 𝑠𝑝 between base parts 𝑣𝑐 𝑠𝑝 = = 𝑣𝑐 𝑇𝑐 𝑓𝑝 where 𝑣𝑐 is velocity of conveyor in m/min or ft/min Workstation Considerations Tolerance time, is the time a work unit spends inside the boundaries of the workstation 𝐿𝑠 𝑇𝑡 = 𝑣𝑐 where 𝑇𝑡 is tolerance time in min/part, assuming that all station lengths are equal If stations have different lengths, identified by 𝐿𝑠𝑖 then the tolerance time will differ proportionally since 𝑣𝑐 is constant 𝑛 𝐿 𝐸𝑇 = = 𝑇𝑡𝑖 𝑣𝑐 𝑖=1 where ET is elapsed time a work unit (specifically the base part) spends on the conveyor during assembly in mins If all tolerance times are equal 𝐸𝑇 = 𝑛𝑇𝑡 Other Considerations in Line Design Line efficiency Management is responsible to maintain line operation at efficiencies (proportion uptime) close to 100% Implement preventive maintenance Well-trained emergency repair crews to quickly fix breakdowns when they occur Avoid shortages of incoming parts to avoid forced downtime Insist on highest quality components from suppliers to avoid downtime due to poor quality parts Other Considerations - continued Methods analysis To analyze methods at bottleneck or other troublesome workstations Subdividing work elements It may be technically possible to subdivide some work elements to achieve a better line balance Sharing work elements between two adjacent stations Alternative cycles between two workers Other Considerations - continued Utility workers To relieve congestion at stations that are temporarily overloaded Changing workhead speeds at mechanized stations Increase power feed or speed to achieve a better line balance Preassembly of components Prepare certain subassemblies off-line to reduce work content time on the final assembly line Other Considerations - continued Storage buffers between stations To permit continued operation of certain sections of the line when other sections break down To smooth production between stations with large task time variations Parallel stations To reduce time at bottleneck stations that have unusually long task times Other Considerations - continued Zoning constraints - limitations on the grouping of work elements and/or their allocation to workstations Positive zoning constraints Work elements should be grouped at same station Example: spray painting elements Negative zoning constraints Elements that might interfere with each other Separate delicate adjustments from loud noises Other Considerations - continued Position constraints Encountered in assembly of large products such as trucks and cars, making it difficult for one worker to perform tasks on both sides of the product To address, assembly workers are positioned on both sides of the line Alternative Assembly Systems Single-station manual assembly cell Worker teams Automated assembly systems Single-Station Manual Cell A single workstation in which all of the assembly work is accomplished on the product or on some major subassembly Common for complex products produced in small quantities, sometimes one-of-a-kind Custom-engineered products Prototypes Industrial equipment (e.g., machine tools) Assembly by Worker Teams Multiple workers assigned to a common assembly task Workers set their own pace Examples Single-station cell with multiple workers Swedish car assembly (job enlargement) - product is moved through multiple workstations by AGVS, but same worker team follows it from station to station Reported Benefits of Team Assembly Greater worker satisfaction Better product quality Increased capability to cope with model variations Greater ability to cope with problems that require more time rather than stopping the entire production line Disadvantage: Team assembly is not capable of the high production rates of a conventional assembly line
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