考虑工具和空间约束的机器人装配线平衡优化

Balancing and optimization of robotic assemble lines with tool and space constraint

为了提高流水装配线的效率和产能,在进行机器人装配线平衡的同时,优化任务资源的占用空间大小,考虑工具的占用空间及切换次数,在工作站数量最小化以及每个工作站占用空间最小化两个冲突目标之间寻求平衡。针对该带约束的多目标优化问题,首先建立数学模型,然后提出一种改进的多目标免疫克隆算法,基于该问题的特殊性提出了针对性的编码方式,引入了Pareto前沿排序、精英策略、全局搜索策略,以提升该算法的综合性能。最后,对不同规模的实例问题进行优化,并且与其他算法进行对比,以评价本文算法的效率和优越性。结果表明:本文算法在得到的解数量与质量方面都更加有效,对于不同规模问题都具有可行性。

In order to improve the efficiency and productivity of the assembly line,the assembly line area was optimized and the space occupied by the tools and changeover for each task were taken into consideration when balancing the robotic assembly line.The two conflicting objective functions considered in this article were to minimize the cycle time of the number of workstations and to minimize the area of each workstation.A mathematical model was first established.In order to effectively solve this problem,a coding method based on separator genes was designed and then an improved multi-objective immune clonal algorithm was proposed for the constrained multi-objective optimization problem.Pareto frontier sorting,elite strategy,and global search were introduced to enhance the performance of the algorithm.Finally,the problems of different scales were optimized and the results were compared with other algorithms to evaluate the efficiency and superiority of the proposed algorithm.The results show that the algorithm is effective on both quantity and quality of solutions,and feasible for different scales of problems.