摘要
分析了轿车白车身制造过程中多机器人拼焊工位焊点分配问题的特征,将焊点与机器人抽象为空间点、以机器人运动时间的倒数为价值向量建立多背包问题数学模型,利用遗传算法进行求解.通过合理处理选择、交叉、变异遗传算子,算法具有良好的搜索性能和收敛性.侧围补焊工位焊点分配结果表明各机器人焊接任务均衡,节拍时间控制在要求范围之内.
A genetic algorithm was proposed for solving the problem of assigning welding point to multi-robots in car body-in-white manufacture.With the welding point and robots as spatial point and motion time of the robot as value vector,a multi-knapsack problem model was established.Through processing selection,crossover and mutation genetic operators,convergence ability of the algorithm was strengthened.Taking the welding point allocation of the side panel repair welding working procedure as example,welding point allocation result shows that each robot has balanced burthen and the cycle time meets the engineering demands.
出处
《同济大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2010年第5期725-729,共5页
Journal of Tongji University:Natural Science
基金
国家"八六三"高技术研究发展计划资助项目(2008AA04Z105)
关键词
白车身
多机器人焊接
遗传算法
背包问题
body-in-white
multi-robots welding
genetic algorithm
knapsack problem
