Research On Key Technologies Of Performance Optimization For Robotic Production Lines

The industrial robot production line needs to be optimized and adjusted to adapt to the new production requirements due to the change of production objectives after the design is completed.The main optimization contents include the balance optimization of the production line,the layout optimization of the work unit and the optimization of energy consumption.In view of the above three kinds of optimization contents,this paper conducts the following studies.The multi-objective balancing method of robot production line based on NSGAII algorithm is studied.In this chapter,a mathematical model of the robot production line's multi-objective balance problem is established based on the first and third types of production line balance problems.Based on the NSGA-II algorithm,the chromosome encoding and decoding rules for the algorithm are designed for the expression problem of the process allocation plan.In order to solve the problem that the chromosome generated through a random allocation process will die early and affects the algorithm due to the noncompliance with the process constraints,a population initialization method and a chromosome crossover mutation method are designed based on the process constraints.Finally,the validity of the algorithm is verified by Jackson calculation example.The optimization method of robot work cell layout based on efficiency and energy consumption constraints is studied.This chapter analyzes the quantification of the working efficiency and energy consumption of the robot in the working unit.The position and orientation of the robot in the working unit are taken as variables,the maximum value of the Angle of the previous three joints divided by the average speed represents the working efficiency,and the total energy consumption of the joints is used to calculate the working energy consumption of the robot.Taking the robot's work efficiency and energy consumption as the optimization objectives,the algorithm framework of robot work unit layout optimization was established.Finally,the optimization effect of the algorithm is verified on a machining unit of shaft parts(hereinafter referred to as X working unit).The energy consumption optimization method of robot work cell based on job time adjustment is studied.This chapter analyzes the different states and energy consumption of the robot in the production process,and establishes the energy consumption evaluation model of the robot in the operation stage based on the joint energy consumption model.From the perspective of reducing the idle time of the robot and taking the working time of the robot in each process of the work unit as a variable,the framework of energy consumption optimization algorithm for the industrial robot work unit is established.Finally,the optimization effect of the algorithm is verified on X unit.The algorithm is tested on DG15 production line of D company and its logo unit.This chapter introduces the DG15 production line and its logo unit.The three algorithms proposed are applied to test the production line and its logo unit,and the results are compared with the existing schemes to verify the optimization effects of the proposed algorithm in terms of balance,layout and energy consumption.