第II类机器人混流装配线的平衡与排序联合决策

为了提高第II类机器人混流装配线系统能效，界定工业机器人5种工作状态，量化不同状态下的机器人能源消耗值，引入关停策略和考虑产品切换，以最小化最大工作时间和能源消耗为目标，构建平衡与排序联合决策双目标优化模型. 设计改进的非支配排序遗传算法II，通过同类算法对比分析，验证改进算法的有效性. 结合算例，揭示关停策略和产品切换准备作业对机器人混流装配线系统的技术影响。关停策略能够减少能耗，在装配线平衡性下降时的效果愈加明显，最大能耗节约率达到16.68%；考虑产品切换准备作业的影响，有利于机器人混流装配线作业效率和能源消耗的整体优化.

Joint decision-making of balancing and sequencing for type-II robotic mixed-model assembly line

In order to optimize the energy and efficiency of the type-II robotic mixed-model assembly line system, firstly, five working states of industrial robots was defined to measure the robot energy consumption in state. A dual-objective optimization model of joint decision-making of balancing and sequencing was proposed in consideration of shutdown strategies and product switching. Its objectives were taken as minimizing the maximum working time and energy consumption. Next, the improved non-dominated sorting genetic algorithm II (NSGA-II) was designed and its validation was also verified by comparing with a similarly algorithm. Finally, the technical impact of shutdown strategy and product switching on the robotic mixed-model assembly line system was shown by example analysis. The shutdown strategy was able to bring energy savings to a certain extent, and the benefits become more obvious when the balance of the assembly line decreases, and the maximum energy saving rate reached 16.68%; the product switching in consideration was beneficial both to the operation efficiency and energy efficiency for the robotic mixed-model assembly line.