Layout of robot cells based on kinematic constraints

摘要

This article presents a new approach in determining machine layout in robotic cells and the corresponding feasible robot configuration at each machine worksite, such that the total cycle time is optimised. Simultaneously, the proposed method considers many design features required to develop a practical workcell including machine dimensions, worksites, orientations, and operational characteristics of the deployed robot. A realistic approach is presented to model the problem using the robot joint space. Such method will enable the robot control parameters to be considered in the problem formulation. A non-linear optimisation model is presented and solved using the Sequential Quadratic Programming algorithm available in the Matlab® optimisation tool box. By implementing to a real industrial robot, the feasibility of the proposed approach is examined through several examples. The simulation test results showed that the proposed approach based on cycle time optimisation produced better results than previous methods developed using constant joint velocity. A 3D simulation software is used to provide a practical analysis of the developed layout and robot dynamics.