Simultaneous optimization of layout and task schedule for robotic cellular manufacturing systems

摘要

Multi-robot cellular manufacturing systems utilize several articulated industrial robots that cooperatively perform a large number of complex operations when assembling products. To enhance the system performance when designing layouts for such robotic cellular manufacturing systems, the positions of robots and other manufacturing system components must be appropriately determined by considering the sequence of tasks the robots conduct during the assembly process. This paper proposes a new mul-tiobjective layout design optimization technique for robotic cellular manufacturing system layouts that can simultaneously determine the positions of manufacturing components and also task scheduling. First, in this paper, sequence-pair representation is used to specify layout design candidates that inherently avoid interference between assembly system components, and the use of dummy components is introduced to represent layout areas that provide necessary and appropriate spacing between manufacturing system components. In addition, task allocations for each robot are considered as discrete design variables. The design criteria for robot cellular manufacturing system layout designs are clarified and the layout design problem is formulated as a multiobjective optimization problem. To solve the optimization problem, a method based on a multiobjective genetic algorithm is proposed and numerical examples are provided to demonstrate the effectiveness of the proposed method.