Layout Optimization For Multi-delta Robot System Based On Genetic Algorithm With Optional Index

Combines with an actual multi-Delta robot chocolate packaging project,this paper gives out a device layout optimization method based on genetic algorithm with optional index.According to the actual requirements,you can choose to ensure either shortest cycle time of robot movements,or smallest space cover of the device layout.Two extreme situations can be calculated out,in order to provide a quantifiable optional index for a layout case.By applying the robot application engineer's experience,and combining with the commercial industrial robot programming and simulation software,the result after optimization had been proved in the factory that could maximally improves the system efficiency and saves the assembling space and energy,which has theoretical significance and high value in practicability.In brief,this paper mainly does the following works for the layout optimization with multi-Delta robot work cells:First,for the proposal of robot work cells layout problem,this paper introduces the current development situation of industrial robot,emphatically introduces the history of Delta robot and the current development situation of this robot in China and other countries.Then it brings out the layout problem of Delta robot work cells,and also researches the layout algorithm development situation.Second,for the exploration of layout solution,based on the actual project,this paper describes the geometry and mathematical construction of robot work cells layout and constraint conditions.Besides,it establishes the mathematical model for work cells layout and evaluation standard,through quantitative device optimization index and mathematical description model for layout,it calculates the fitness for each layout case.Again,for the development of simulation system,this paper combines the genetic algorithm with the actual project,brings out the layout optimization for multi-Delta robot system based on genetic algorithm with optional index,gives the algorithm process,coding,fitness function,genetic variation process and convergence condition.Based on Matlab,develops the simulation system and GUI interface.Through this simulation system,it can provide layout guidance for different layout needs.Finally,for the simulation results and analysis,this paper analyses the instance and result of the algorithm.Firstly,this paper gives a Delta robot mechanical parameters which used in an actual project.And then,based on this Delta robot model runs the algorithm when the robot units is 2 or 5,with different indexes it gives different optimization results,whose results proves the validity and practicability of the algorithm.