• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (7): 204-214.doi: 10.3901/JME.2021.07.204

• 数字化设计与制造 • 上一篇    下一篇

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考虑任务复杂性的人机联合任务分配问题研究

孔繁森1,2,3, 高天宇1,2, 李惠敏1,2, 卢振林1,2   

  1. 1. 吉林大学机械与航空航天工程学院 长春 130022;
    2. 吉林大学未来工厂的设计与规划吉林省重点实验室 长春 130022;
    3. 吉林大学数控装备可靠性教育部重点实验室 长春 130022
  • 收稿日期:2020-06-09 修回日期:2020-12-18 出版日期:2021-04-05 发布日期:2021-05-25
  • 通讯作者: 孔繁森(通信作者),男,1965年出生,教授,博士研究生导师。主要研究方向为工业工程相关领域,工厂设计与规划,制造系统建模仿真与优化,以人为核心的生产工程问题。E-mail:kongfs@jlu.edu.cn
  • 基金资助:
    吉林省科技发展计划资助项目(2020122355JC)

Research on Human- robot Joint Task Assignment Considering Task Complexity

KONG Fansen1,2,3, GAO Tianyu1,2, LI Huimin1,2, LU Zhenlin1,2   

  1. 1. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022;
    2. Jilin Provincial Key Laboratory of Designing and Planning for Factory, Jilin University, Changchun 130022;
    3. Key Laboratory of CNC Equipment Reliability of Ministry of Education, Jilin University, Changchun 130022
  • Received:2020-06-09 Revised:2020-12-18 Online:2021-04-05 Published:2021-05-25

摘要: 在生产线中,机器人加入的直接目的是降低人的劳动强度,提高生产线的效率。关于人机联合任务分配问题多以成本和时间为目标进行任务分配,则建立了考虑任务复杂性的人机联合任务分配模型,旨在获得最优资源利用方案。首先从操作过程和决策过程两方面给出了人机联合装配操作复杂度的评价方法;其次,开发了基于操作复杂度的人机联合任务分配模型,该模型以资源利用均衡率、工人操作复杂度均衡率、平均决策过程复杂度为约束条件,以最小化平衡滞延时间为目标,在任务分配中,假设机器人承担操作任务的决策复杂度小于工人承担操作任务的决策过程复杂度,并兼顾工人操作任务复杂度的均衡,优化得到人机联合任务分配方案。案例研究证明了所建模型的可行性。

关键词: 人机, 任务分配, 装配复杂度, 装配线平衡

Abstract: In the production line, the direct purpose of robot is to reduce the labor intensity and improve the efficiency of the production line. In the literature, the assignment problem of human-robot joint task is usually carried out with cost and time as the goal. A human-robot joint task assignment model considering the complexity of the task is established to obtain the optimal resource utilization scheme. In this paper, the operation complexity evaluation method of human-robot joint assembly is given from two aspects of operation process and decision process. Second, developed based on the complexity of the operation of human-robot combination task allocation model, the model to take advantage of resource equilibrium rate, average workers operation complexity and decision-making process complexity as constraint conditions, to minimize hysteresis time delay between the balance as the goal, in the task assignment, assume that the robot decision-making process complexity is less than the workers responsible for operating the complexity of the decision-making process, responsible for operation and the balance of both workers operating task complexity, optimizing man-machine combination task allocation scheme. The case study proves the feasibility of the proposed model.

Key words: human-robot, task allocation, assembly complexity, assembly line balancing

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