Demiralay, Y.D.Kara, Y.2025-04-132025-04-1320251877-0509https://doi.org/10.1016/j.procs.2025.02.001https://hdl.handle.net/20.500.13091/9980The increase in the world's human population has led assembly lines to seek new solutions to meet increasing human needs and demands. At this point, Industry 4.0 and Industry 5.0 paradigms can create new solutions for assembly lines. Human-robot interactive designs are a revolutionary change for assembly lines especially. One of the crucial parts of this change is collaborative robots (cobots) that can share the same working environment with humans. Inspired by human-robot interactive designs, this paper investigates the balancing problem of an assembly line using human-cobot collaboration. Human, cobot, and gripper workstations are assigned to fulfill the assembly tasks. It also aims to build a cost-effective model by taking into account costs. A mixed integer linear programming model is developed for the problem, and an illustrative example is presented to understand the developed model better. This study shows how traditional assembly lines can be transformed into a cost-effective design without ignoring the costs when cobots with different abilities and appropriate grippers interact with humans, share the same working environment, and perform tasks within a given cycle time. © 2024 The Authors. Published by Elsevier B.V.eninfo:eu-repo/semantics/openAccessAssembly Line BalancingCollaborative RobotsHuman-Robot CollaborationConference Object10.1016/j.procs.2025.02.0012-s2.0-105000487684