Research On Multi-robotic Disassembly Line Dynamic Balancing

Under the background of the continuous development of manufacturing industry,how to deal with a large number of discarded products has attracted more and more attention.Discarded product recycling mainly uses parts and materials to be recycled from discarded products through disassembly and remanufacturing to improve resource utilization efficiency.Product disassembly is a critical step in the recycling of waste products,it can be carried out in a single station,disassembly cell or disassembly line,where the disassembly line has the highest disassembly efficiency.At present,most disassembly line balancing researches focus on the disassembly line of single model product or single workstation,which can not give full play to the advantages of high utilization rate and high disassembly efficiency of the disassembly line system.Besides,there are few studies on the disassembly line system under the dynamic multi-objective function,which can not reveal the basic characteristics and methods of the disassembly line balance problem.In this paper,the disassembly line system is taken as the research object.On the basis of studying the mathematical model of multi-robotic disassembly line balancing problem,a multi-objective optimization algorithm is designed to construct a prototype system.The main research contents are as follows:(1)Research on disassembly line balancing with multi-robot workstation.This paper proposed a mixed-model disassembly line balance problem under multi-robot workstation.Besides,a mathematical model is constructed to optimize the number of workstations,the number of robots,the harmful task cost,and the carbon emission saving rate.In addition,a multi-objective optimization genetic algorithm is designed for solving medium or large scale problems based on multi-objective optimization theory,combined with targeted multi-chromosome coding and decoding strategy,cross-mutation strategy,best-order-sort,neighborhood search strategy,and other mechanisms.Finally,the effectiveness and accuracy of the model and algorithm are verified by simulation and experiment.(2)Research on dynamic disassembly line balancing with multi-robot workstation.Aiming at balancing the relationship between the objective functions when solving the disassembly line balance problem under the many-objective,a disassembly line balancing mathematical model with multi-robot workstation under dynamic objective function is proposed.Combining with the dynamic multi-objective optimization theory,the model optimizes the number of workstations,the number of robots,the efficiency of workstations,the harmful task cost,the workstation load density,and the carbon emission saving rate.In addition,a dynamic multi-objective optimization genetic algorithm is designed for solving medium or large scale problems,which combines population reconstruction strategy,population update strategy,and parent selection strategy.Finally,the effectiveness and accuracy of the model and algorithm are verified by simulation and experiment.(3)A prototype system of disassembly line balancing is designed and implemented.On the basis of the mathematical model of disassembly line balancing problem and relevant algorithm constructed in this paper,a prototype system of disassembly line dynamic balancing with multi-robot workstation is designed and implemented,which includes software modules of disassembly line data input,disassembly line data management,scheme analysis,and display,furthermore,the practicality of the mathematical model and algorithm proposed in this paper is verified by taking a certain type of electronic waste as a disassembly example.