Compact design of work cell with robot arm and positioning table under a task completion time constraint

摘要

A work cell is generally designed to achieve a high throughput and its size is typically viewed as contingent to component sizes. In this paper, we aim to design a compact work cell (spatial requirement) and to minimize its task completion time (temporal requirement) to a value set as a constraint. By doing so, a work cell occupies a minimal space and achieves its desired throughput. The work cell size is evaluated based on the size and the swept volume of components. This evaluation is important since a robot arm can have a very large swept volume depending on a given task. To satisfy the spatial and temporal requirements, we propose the integration of the base placement optimization, goal rearrangement, and motion coordination between the robot arm and the positioning table. Furthermore, we introduce two motion coordination schemes based on the spatial and temporal requirements. We showed the effectiveness of the proposed method through simulations.