Life cycle management of industrial robots based on deterioration evaluation - facility layout and motion planning taking account of joint gear wear

Author

Yamada, Atsushi ; Takata, Shozo

Author_Institution

Dept. of Ind. & Manage. Syst. Eng., Waseda Univ., Tokyo, Japan

fYear

2001

fDate

2001

Firstpage

460

Lastpage

465

Abstract

This paper proposes a method for optimizing the operating conditions of industrial robots in order to improve their reliability, as a part of facility life-cycle management based on life-cycle simulation of the robot. In the life-cycle simulation, operational and environmental stresses acting on components during operations are evaluated and their deterioration and resultant functional degradation are simulated based on task descriptions, robotic models and deterioration models. By means of a hybrid genetic algorithm, the layout of the robot and velocity patterns are optimized so as to minimize deterioration of the joint gear while maintaining a constant total execution time for the operation. An application of the method to the robots in an automatic assembly line is presented as an illustrative example

Keywords

assembly planning; computer aided facilities layout; control system CAD; genetic algorithms; industrial robots; path planning; reliability; robot kinematics; wear; automatic assembly line; deterioration evaluation; environmental stresses; facility layout; functional degradation; hybrid genetic algorithm; industrial robots; joint gear wear; life-cycle management; life-cycle simulation; motion planning; operating conditions optimization; operation execution time; operational stresses; reliability; task descriptions; velocity patterns; Computational modeling; Degradation; Engineering management; Gears; Maintenance; Optimization methods; Robotic assembly; Robotics and automation; Service robots; Stress;

fLanguage

English

Publisher

ieee

Conference_Titel

Environmentally Conscious Design and Inverse Manufacturing, 2001. Proceedings EcoDesign 2001: Second International Symposium on

Conference_Location

Tokyo

Print_ISBN

0-7695-1266-6

Type

conf

DOI

10.1109/.2001.992399

Filename

992399