基于多目标的机器人装配线平衡算法

Balancing and bi-objective optimization of robotic assemble lines

为提高装配线效率的同时优化制造的能源利用效率,在进行机器人装配线平衡时考虑机器人的执行能耗、换模能耗、待机能耗、工件传输能耗等,在工作站数量最小化和总能耗最小化两个目标之间寻求平衡。针对该约束的多目标优化问题,首先建立数学模型,设计编码方式;然后提出一种改进的基于分解的多目标进化算法,该算法引入非可行解参与进化和惩罚系数自适应变化策略以调节解的收敛性与多样性,并提出基于问题特殊性的局部搜索机制以进一步减小装配线能耗;最后对不同规模的问题进行优化,并与其他标杆算法进行对比,以评价该算法的效率和优越性。结果表明:该算法有效、可行,并且对该数学模型的求解有效提高了机器人装配线能效。

In order to improve the operation efficiency and the energy efficiency of the assembly line,the energy consumptions during task performing,changeover,stand-by and transportation were considered when balancing the robotic assembly lines. The objective was to minimize the number of workstations and the total energy consumption simultaneously. A mathematical model was first established,and then an improved Multi-objective Evolutionary Algorithm was proposed and a special coding scheme was designed.A constraint-handling technique,an adaptive penalty factor and a problem-based local search strategy 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. The results show that the proposed algorithm is effective and feasible,and the energy efficiency of robotic assembly lines is improved.