| This paper proposes an adaptive-differential evaluation based optimization method for robot work cell layout. By considering the kinematics and operating characteristic of robot, this paper develops a new joint space evaluation. The sum of trajectory distance of each joint as an evaluation function is a more accurate approximation of the robot cycle time and power consumption. Adaptive-differential evaluation as a simple and efficient algorithm is introduced to improve the computational efficiency. A typical industrial case is used to verify the validity and practicability of the proposed algorithm. The simulation result shows the effectiveness of the proposed method and the advantage of the joint space evaluation.The thesis is organized as following:Firstly, it defines the problem of robot work cell layout in industrial applications, describes the objects and goals of the study, and reviews the current optimization algorithms.Secondly, it presents a mathematical model for robot and peripheral equipments in the industrial work cell. The work space model and kinematic model of robot are given. Besides, it also gives the geometry and mathematical description of three-dimensional peripheral equipments in order to adapt to the layout optimization algorithm. The method of collision detection and adjustment are also given.Thirdly, it proposes a new evaluation - joint space evaluation. Compared to the previous evaluation in operator space, joint space evaluation is a more accurate approximation of the robot cycle time and power consumption. Then it designs an algorithm based on adaptive differential evolution algorithm for robot work cell layout optimization.Finally, it combines MATLAB robotic toolbox with Java3D API to implement the algorithm. A typical industrial case is used to verify the validity and practicability of the proposed algorithm. The simulation result shows the effectiveness of the proposed method and the advantage of the joint space evaluation. |
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