Study On Layout Optimization Problem Of Dual Robotic Assembly Cell

The robot-based robotic assembly cell on the automated assembly line is an important part of the entire assembly line,and its performance is determined during the layout phase.The rationality of the layout will directly affect the post production of the cell.This paper studied the layout optimization problem of dual robotic assembly cell,and designed a multi-objective layout optimization method to collaboratively optimize the position of equipment components and the assignments of robot tasks.The equipment in the assembly unit is enveloped by a rectangular parallelepiped,simplifying the layout problem to an optimal arrangement of a set of rectangles.The devices are positioned in a sequence pair manner,and the virtual devices are introduced to represent necessary space for equipment maintenance,repair,etc.Device and virtual devices are cooperatively optimized.Considering the influence of the robot's task assignment on the layout,the location of the device components and the robot task assignments are collaboratively optimized.Taking the movement time in the robotic joint space as the evaluation index of the production cycle time;taking the manipulability of the robot at the working point as the evaluation index to avoid the situation that the working point is at the singular point of the robot;taking the floor area of the cell as a secondary evaluation index.The device work point was constrained to be in the robot workspace.The collision detection of the robot at the working point was performed by the edge interference test method.According to the evaluation index and constraints,a layout optimization algorithm based on multi-objective hybrid particle swarm genetic algorithm was designed.The genetic algorithm was improved by the idea of mixing into the particle swarm optimization algorithm.For the family divided by the fitness value,the individual with the highest fitness value of each family was used as the node to transmit information with other families,so as to achieve the purpose of improving the convergence speed.Taking a cell of gear hot pressing as an example,the simulation program software was written in MATLAB to verify the layout optimization method.The simulation results showed that the established mathematical model is reliable.