Hybrid Gray Wolf Optimization for Energy-efficient Type-II Robotic U-shaped Assembly Line

Abstract

Abstract: Considering task assignment and robot assignment，gray wolf algorithm was proposed based on random key code to minimize energy consumption.Considering precedence relations and cycle time constraint， the algorithm allocated the tasks and robots into workstations in decoding
phase.Based on social hierarchy in the population of gray wolf，3 optimal wolves were selected to guide other wolves to update the population.Simultaneously，based on the task assignment and robot allocation，2 crossover operators were designed to enhance the
communication among low-grade wolves.The proposed algorithm was proved to have great performance under benchmarks of U-shaped assembly lines.

Key words: robotic U-shaped assembly line, gray wolf algorithm, energy consumption, optimization

摘要： 面向作业工序分配和机器分配，提出一种基于随机键编码的灰狼算法，以实现能耗最小化。算法在解码中，考虑工序间的优先关系约束和节拍约束，将工序和机器分配到工位中。该算法基于灰狼个体间的社会等级信息，选择3只最优狼指引剩余个体进化，以实现种群的更新。同时，该算法依据作业工序分配和机器人分配，混合了两种交叉方式以增强最低等级狼群间的交流。最后通过U型装配线的标杆案例，验证灰狼算法的有效性和优越性。

关键词: 机器人U型装配线, 灰狼算法, 能耗, 优化

CLC Number:

TH16

ZHANG Zikai1，2;TANG Qiuhua1，2;ZHANG Liping1，2;LI Zixiang1，2. Hybrid Gray Wolf Optimization for Energy-efficient Type-II Robotic U-shaped Assembly Line[J]. China Mechanical Engineering.

张子凯1，2;唐秋华1，2;张利平1，2;李梓响1，2. 基于混合灰狼算法实现第Ⅱ类机器人U型装配线能耗优化[J]. 中国机械工程.

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