Research On Multi-Robotic Disassembly Line Balance Considering Resource Constraint

Disassembly is an important stage in the life cycle of a product,which can give the promotion of recycling and reusing of products and contribute to the green development of resources and environment.Disassembly line system is the main place to disassemble the products,and the research on disassembly line balancing problem has become a hot issue in recent years.The application of robots in disassembly line system can reduce the problems caused by manual labor,it also improves the disassembly efficiency and makes the disassembly automation come true.However,most of the existing research focuses on the general disassembly line balancing problem,and less on multi-robotic disassembly line balancing problem.In the robotic disassembly line,resource consumption is the main cost of production cost,so,reducing the total resource consumption of the robot in the disassembly line has become an urgent problem to be solved.In response to these circumstances,a multi-robot disassembly line balancing problem considering energy consumption reduction is proposed and a mathematical model is established in this paper.On this basis,considering the resource occupancy in the robot workstation,a multi-robot disassembly line balancing problem considering resource constraints and reducing the resource occupancy of the robot is proposed,and a mathematical model is established.Multi-objective evolutionary algorithm is designed to solve the above problems.The main research contents are as follows.(1)Research on multi-robotic disassembly line balancing considering energy consumption reduction.Aiming at the phenomenon of excessive energy consumption of robots in the multi-robotic disassembly line,a multi-robotic disassembly line balancing problem considering energy consumption reduction is proposed.An improved AND/OR graph is designed to construct the task sequence instead of the traditional task precedence diagram.Combining with the disassembly line theory,a mathematical model of multi-robotic disassembly line balancing problem is constructed to minimize the number of robot,minimize the number of workstation,and minimize the total energy consumption of robots.In order to solve the disassembly problem of medium and large scales,the encoding and decoding methods,crossover and mutation operators are designed based on the improved non-dominated genetic algorithm-III with double populations.The validity of the model and algorithm is verified by simulation and algorithm test.(2)Research on resource-constrained multi-objective multi-robotic disassembly line balance.In the multi-robotic disassembly line,the robot not only consumes energy,but also occupies some additional resources.In view of this situation,a multi-robotic disassembly line balancing problem considering resource constraints and reducing the occupancy of resources is proposed.Combining the research of multi-robotic disassembly line balancing considering energy consumption reduction and resourceconstrained scheduling problem,a mathematical model of multi-robot disassembly line balancing problem is constructed to minimize the number of robot,minimize the number of workstation,minimize the total energy consumption of robots,and minimize the total resource usage of all robots.An improved non-dominated sorting genetic algorithm-III with double populations,the corresponding encoding and decoding methods,genetic operators,and a local evolutionary acceleration strategy is adopted to solve the disassembly problems of medium and large scales.The effectiveness of the model and algorithm is validated by simulation and experiments.(3)A prototype system of multi-robotic disassembly line balancing is designed and implemented.To solve the disassembly problem in the project,the multi-robotic disassembly line balancing problem model considering energy consumption reduction,resource-constrained multi-robotic disassembly line balancing problem model and the proposed algorithm are applied to the implemention of prototype system.This system can realize the function of importing and managing the disassembly data,analysising and displaying the configuration of disassembly line.And it can verify the feasibility and practicability of the model and method proposed in this paper.