考虑拆卸序列的机器人拆卸线平衡优化  

Robotic Disassembly Line Balancing Optimization Considering Disassembly Sequence

作　　者：赖冬梅 唐秋华 LAI Dongmei;TANG Qiuhua(Key Laboratory of Metallurgical Equipment and Control,Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Provincial Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,武汉430081

出　　处：《组合机床与自动化加工技术》2023年第9期1-6,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(51875421)

摘　　要：机器人拆卸逐步成为智能化生产的重要基础,提高机器人拆卸线效率,使其负载均衡尤为重要,拆卸任务顺序对拆卸线的影响也不可忽视。针对考虑拆卸序列的机器人拆卸线平衡问题,以工作站数量、平滑指数和最大工作站作业时间为优化目标建立多目标优化模型,提出ANP-熵权法为各目标分配权重,并提出一种改进离散粒子群算法来求解。通过实验表明所设计的耦合赋权法更能合理地量化目标权重,经过验证算法具有有效性,其性能优于对比算法,同时也说明所提研究方法有效可行,可对所研究问题进行高效的求解。Robotic disassembly has gradually become an important basis for intelligent production.It is particularly important to improve the efficiency of robotic disassembly line and make its load balance.The influence of disassembly task order on disassembly line can not be ignored.To solve the balancing problem of robotic disassembly lines considering disassembly sequence,a multi-objective optimization model was established with the number of workstations,smoothness index and maximum operation time of all workstations as optimization objectives.The ANP-entropy weight method was proposed to assign weight to each objective,and an improved discrete particle swarm optimization algorithm was proposed.Experiments show that the designed coupled weighting method can quantify the target weight more reasonably.It is verified that the algorithm is effective and its performance is better than the comparison algorithms.It also shows that the proposed research method is effective and feasible,and can solve the problem efficiently.

关 键 词：拆卸序列 机器人拆卸 机器人拆卸线平衡 改进离散粒子群算法 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]