Optimal storage rack design for a multi-deep compact AS/RS considering the acceleration/deceleration of the storage and retrieval machine

This paper explores the optimal storage rack design for a multi-deep compact Automated Storage and Retrieval System (AS/RS) considering the acceleration and deceleration of storage and retrieval (S/R) machine. The expected travel time under the single-command cycle and dual-command cycle for a random storage strategy is derived. Based on the travel time, the general models we propose calculate the optimal ratio between three dimensions that minimises the travel time under different speed profile scenarios. From the result, it is proven that the optimal storage rack design model in the constant speed situation can be treated as a special case of the model considering the acceleration and deceleration of S/R machine. Finally, this study investigates the effect of speed profile of S/R machine and fixing dimensions by various numerical experiments.