Heuristics approach for robot path minimization for lamination assembly

Abstract

In many industries, the use of robots is constantly increasing due to creation of new applications and also due to increasing level of robot technology. In energy industry, the use of robots is limited due to heavy and large parts. One of the key applications in energy industry where robots can be deployed is the process of stacking stator core laminations for generators and large motors. To eliminate the need of huge investment of time and money to build an actual prototype for such a process, cycle time needs to be estimated through the simulation with suitable layout of equipment. The layout having multiple pick tables and multiple place positions for the assembly of laminations creates a problem of analysis of cycle time as there are many choices of heuristic that can be used while optimizing the robot path and program. This paper describes and analyses six heuristic methods with dual objectives of minimizing robot path and achieving uniform unloading of the pick stations. An actual example is used to demonstrate the heuristic methods which can also be used for any pick and place applications for an automated or manual device. The results revealed that the some heuristics have an advantage over others making them viable to use in actual applications.