This paper presents a new method for optimizing the layout position of several Industrial Robots (IRs) placed within manufacturing work-cells, in order to execute a set of specified tasks with the minimum energy consumption. At first, a mechatronic model of an anthropomorphous IR is developed, by leveraging on the Modelica/Dymola built-in capabilities. The IR sub-system components (namely mechanical structure, actuators, power electronic and control logics) are modeled with the level of detail strictly necessary for an accurate prediction of the system power consumption, while assuring efficient computational efforts. Secondly, once each IR task is assigned, the optimal work-cell layout is computed by using proper optimization techniques, which numerically retrieve the IR base position corresponding to the minimum energy consumption. As an output to this second development stage, a set of color/contour maps is provided, that depicts both energy demand and time required for the task completion as function of the robot position in the cell to support the designer in the development of an energy-efficient layout. At last, two robotic manufacturing work-cells are set-up within the Delmia Robotics environment, in order to provide a benchmark case study for the evaluation of any energy saving potential. Numerical results confirm possible savings up to 20% with respect to state-of-the-art work-cell design practice.

Energy-optimal layout design of robotic work cells: Potential assessment on an industrial case study / Gadaleta, Michele; Berselli, Giovanni; Pellicciari, Marcello. - In: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. - ISSN 0736-5845. - 47:(2017), pp. 102-111. [10.1016/j.rcim.2016.10.002]

Energy-optimal layout design of robotic work cells: Potential assessment on an industrial case study

GADALETA, MICHELE;BERSELLI, Giovanni;PELLICCIARI, Marcello
2017

Abstract

This paper presents a new method for optimizing the layout position of several Industrial Robots (IRs) placed within manufacturing work-cells, in order to execute a set of specified tasks with the minimum energy consumption. At first, a mechatronic model of an anthropomorphous IR is developed, by leveraging on the Modelica/Dymola built-in capabilities. The IR sub-system components (namely mechanical structure, actuators, power electronic and control logics) are modeled with the level of detail strictly necessary for an accurate prediction of the system power consumption, while assuring efficient computational efforts. Secondly, once each IR task is assigned, the optimal work-cell layout is computed by using proper optimization techniques, which numerically retrieve the IR base position corresponding to the minimum energy consumption. As an output to this second development stage, a set of color/contour maps is provided, that depicts both energy demand and time required for the task completion as function of the robot position in the cell to support the designer in the development of an energy-efficient layout. At last, two robotic manufacturing work-cells are set-up within the Delmia Robotics environment, in order to provide a benchmark case study for the evaluation of any energy saving potential. Numerical results confirm possible savings up to 20% with respect to state-of-the-art work-cell design practice.
47
102
111
Energy-optimal layout design of robotic work cells: Potential assessment on an industrial case study / Gadaleta, Michele; Berselli, Giovanni; Pellicciari, Marcello. - In: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. - ISSN 0736-5845. - 47:(2017), pp. 102-111. [10.1016/j.rcim.2016.10.002]
Gadaleta, Michele; Berselli, Giovanni; Pellicciari, Marcello
File in questo prodotto:
File Dimensione Formato  
pagination_RCM_1471.pdf

non disponibili

Tipologia: Pre-print dell'autore (bozza pre referaggio)
Dimensione 3.34 MB
Formato Adobe PDF
3.34 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1147890
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 23
  • ???jsp.display-item.citation.isi??? 20
social impact