Automating Robotic Assembly Workplace Planning

本研究旨在开发演算法与软体，以协助实现机器人装配作业场所的自动化规划。在电子制造业中，许多种类的印刷电路板都有零件需要机器人插入，并且可以按任何顺序进行插入。同样地，人们可以自由选择容器或进料器的位置来容纳零件。装配顺序和料仓位置的选择会极大地影响总装配时间，从而影响生产效率。研究人员将利用组合学和定位理论的思想，开发算法来确定最佳的装配序列，以及最佳的垃圾箱位置。迄今为止获得的结果使问题的维度比以前的最佳方法减少了50%。这些算法将由用户友好的软件执行，可在个人计算机上操作，该软件也将在评估模式下发挥作用；用户可以使用与计算机图形相结合的指向装置来指定箱的装配顺序和位置。当设置时间占主导地位时，调查人员将检查相关问题，以及涉及到零件分配到垃圾箱的问题。预期结果应适用于涉及机器人的其他制造环境。

This research is to develop algorithms and software to help implement the automation of robotic assembly workplace planning. In electronic manufacturing, many kinds of printed circuit boards have parts to be inserted by a robot, and the insertions can be made in any sequence. Likewise, one is free to choose locations of bins or feeders to contain the parts. The choice of the assembly sequence and the location of the bins can greatly affect the total assemble time, and thus manufacturing productivity. The investigators will develop algorithms to determine a best assembly sequence, as well as best bin locations, using ideas in combinatorics and location theory. Results obtained thus far has reduced the dimension of the problem by 50% over the best available previous approach. These algorithms will be implemented with user-friendly software, operable on a personal computer, which will also function in an evaluation mode; the user can employ a pointing device in conjunction with computer graphics to specify an assembly sequence and location of bins. The investigators will examine related problems when set-up times are dominant, and problems involving the distribution of parts to bins. Expected results should be applicable in other manufacturing contexts involving robots.