【作者】 徐政；

【导师】 陆国栋； 王进；

【作者基本信息】 浙江大学 ， 工程硕士（专业学位）， 2021， 硕士

【摘要】 应用了工业机器人的生产线(以下简称工业机器人生产线或机器人生产线)在设计完成后由于生产目标的变化,需要进行优化调整以适应新的生产要求,其中主要的优化内容包括生产线的平衡优化、工作单元的布局优化和能耗优化。针对上述三种优化内容,本文进行以下研究:研究基于NSGA-II算法的机器人生产线多目标平衡方法。基于第一类和第三类生产线平衡问题建立机器人生产线多目标平衡问题的数学模型。以NSGA-II算法为基础,针对工序分配方案的表达问题,设计了用于算法的染色体编译码规则;针对随机分配工序会导致染色体因不符合工艺约束约束导致早夭,影响算法进行的问题,基于工艺约束设计了种群初始化方法以及染色体交叉变异方法。最后通过Jackson算例对该算法进行有效性验证。研究基于效率和能耗约束的机器人工作单元布局优化方法。分析机器人在工作单元中的作业效率与能耗的量化问题,以机器人在工作单元中的位置和朝向为变量,以前三关节中转角除以平均速度的最大值表征作业效率,以机器人的关节能耗总和来计算机器人的作业能耗。以机器人的作业效率和能耗为优化目标,建立机器人工作单元布局优化算法框架。最后在某一轴类零件加工单元(以下简称为X工作单元)上验证了算法的优化效果。研究基于作业时间调整的机器人工作单元能耗优化方法。分析机器人在生产过程中的不同状态以及能耗,基于关节能耗模型建立机器人作业阶段能耗评估模型;从压缩机器人空闲时间的角度,以机器人在工作单元中各个工序上的作业时间为变量,建立了工业机器人工作单元能耗优化算法框架。最后在X工作单元上验证了算法的优化效果。在D公司DG15产线及其中的自动贴脚垫&logo工作单元上进行算法应用测试。介绍了DG15产线以及自动贴脚垫&logo单元,应用提出的三个算法对产线及工作单元进行应用测试,并与现有的方案进行效果对比,验证了本文优化算法在平衡、布局和能耗上的优化效果。更多还原

【Abstract】 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.更多还原