Abstract: In the production line, the direct purpose of robot is to reduce the labor intensity and improve the efficiency of the production line. In the literature, the assignment problem of human-robot joint task is usually carried out with cost and time as the goal. A human-robot joint task assignment model considering the complexity of the task is established to obtain the optimal resource utilization scheme. In this paper, the operation complexity evaluation method of human-robot joint assembly is given from two aspects of operation process and decision process. Second, developed based on the complexity of the operation of human-robot combination task allocation model, the model to take advantage of resource equilibrium rate, average workers operation complexity and decision-making process complexity as constraint conditions, to minimize hysteresis time delay between the balance as the goal, in the task assignment, assume that the robot decision-making process complexity is less than the workers responsible for operating the complexity of the decision-making process, responsible for operation and the balance of both workers operating task complexity, optimizing man-machine combination task allocation scheme. The case study proves the feasibility of the proposed model.

Key words: human-robot, task allocation, assembly complexity, assembly line balancing