Layout Optimization Of Robotic Assembly Cells Via Multi-objective Firefly Algorithm

With the development of 3C industry and the emergence of personalized and customized production mode with multi variety and small batch,robotic assembly cell is applied more and more often in the manufacturing industry.Robotic assembly cell allows production scheduling to change dynamically and satisfy small and medium batch production.In order to improve the overall performance of robotic assembly cell and achieve efficient and reliable production requirements,it is necessary to study the layout optimization of robotic assembly cell.The mathematical model of robotic assembly cell layout,the collision avoidance constraint of the robot and the selection of the optimization algorithm are the difficulties and key points in the study of the layout optimization of the robotic assembly cell.This thesis takes the robotic assembly cell as the research object.It studies the mathematical model and optimization method of the robotic assembly cell layout,and provides an effective solution to solve the problem of the layout optimization of robotic assembly cell.The main works of this thesis are as follows:(1)A mathematical model of robotic assembly cell layout optimization is proposed,which includes robot collision avoidance strategy and constraint assemble task model.Sequence-pair method is used to encode the device position in the robotic assembly cell,and the Depth-First Search algorithm is used to decode the device position.(2)In order to improve the practicality of the of the robotic assembly cell layout,an evaluation function of robot manipulability in the assembly cell is proposed according to the kinematic characteristics of the robot.A multi-objective optimization model is established by combining the operation time and layout area of the assembly cell.The model is verified by an example.(3)A multi target firefly algorithm is proposed,and the movement rule,which is the key strategy in firefly algorithm,is improved.It is applied to the multi-objective optimization of the robotic assembly cell layout.The rationality of the model and the effectiveness of the algorithm are verified by an example.The parameters setting of firefly algorithm is also explored and studied in this paper.