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Analysis of flexible robotic cells with improved pure cycle

机译：具有改进的纯循环的柔性机器人单元的分析

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In this paper, we study the robotic cell scheduling problem with two machines and identical parts. It is assumed that there are flexibility in the robot type, the pickup category, and the cell layout. Also, the objective is to find the robot move sequence that minimizes the cycle time. One of the assumptions in the pertaining literature is that the occupied robot cannot load a part into an occupied machine. In contrast, the authors consider the robot has the swap ability, so the busy robot will be able to load concurrently a part into an occupied machine. It is also presumed that each part can entirely be processed by one computer numerical control (CNC) machine. A wide range of m-unit cycles named pure cycles has been well documented in the literature. However, a new class of the pure cycles which can produce less than m parts is defined in this study. We prove that the improved pure cycles always dominate pure cycles. The performance of these improved pure cycles for linearly and circularly configured robotic cells, based on free-pickup and no-wait categories are examined. Also, the number of machines which should be idle or busy to obtain an optimal cycle is determined. The novelty of this research is the introduction of the improved pure cycles that increase the long run average throughput rate and also reduce the number of machines.
机译：在本文中，我们研究了两台机器和相同零件的机器人细胞调度问题。假定机器人类型，拾取类别和单元布局具有灵活性。同样，目标是找到使循环时间最短的机器人移动顺序。相关文献中的一种假设是被占用的机器人无法将零件装载到被占用的机器中。相比之下，作者认为该机器人具有交换能力，因此繁忙的机器人将能够同时将零件加载到占用的机器中。还假定每个零件可以完全由一台计算机数控（CNC）机器处理。文献中已广泛记录了许多称为纯循环的m单位循环。但是，在这项研究中定义了一种新的纯循环类，它可以产生少于m个零件。我们证明，改进的纯循环始终主导着纯循环。基于自由拾取和无等待类别，检查了线性和圆形配置的机器人单元的这些改进的纯周期的性能。此外，确定应该闲置或忙碌以获得最佳周期的机器数量。这项研究的新颖之处在于引入了改进的纯循环，该循环可提高长期平均吞吐率并减少机器数量。

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