多约束人机协作U型拆卸线问题建模与优化

陈海烨,张则强,梁巍,郭磊,段淇耀

Modeling and optimization of human-robot collaborative U-shaped disassembly line problem with multi-constraint

Haiye CHEN,Zeqiang ZHANG,Wei LIANG,Lei GUO,Qiyao DUAN

表 2 P25算例的拆卸信息

Tab.2 Disassembly information of P25 example

任务 t1, t2/s c1, c2/元 任务 t1, t2/s c1, c2/元 1 47, 33 2.35, 0.99 14 20, 22 1.00, 0.66 2 —, 17 —, 0.51 15 25, 18 1.25, 0.54 3 10, 7 0.50, 0.21 16 18, 13 0.90, 0.39 4 20, 14 1.00, 0.42 17 18, 13 0.90, 0.39 5 16, 20 0.80, 0.60 18 7, — 0.35, — 6 20, 24 1.00, 0.72 19 15, 17 0.75, 0.51 7 20, 14 1.00, 0.42 20 10, 7 0.50, 0.21 8 —, 53 —, 1.59 21 5, 4 0.25, 0.12 9 30, 21 1.50, 0.60 22 25, 18 1.25, 0.54 10 7, — 0.35, — 23 40, 28 2.00, 0.84 11 15, 18 0.75, 0.54 24 —, 42 —, 1.26 12 10, 7 0.50, 0.21 25 28, 20 1.40, 0.60 13 —, 20 —, 0.6 — — —