Energy Efficient Use of Multirobot Production Lines in the Automotive Industry: Detailed System Modeling and Optimization
This paper quantitatively reports about potential energy savings on robotic assembly lines for the automotive industry. At first, a detailed system model is described, which improves previously published results by explicitly considering both manipulator and electrical drive dynamics. The model closely captures experimental data in terms of actuation torques and servodrive voltages, which are directly used to derive the plant input power. Two practical methods are then evaluated for reducing the overall energy consumption. The methods rely on: 1) implementation of energy optimal trajectories obtained by means of time scaling, concerning the robots' motion from the last process point to the home positions and 2) reduction of energy consumption by releasing the actuator brakes earlier when the robots are kept stationary. Simulation results, based on the production timing characteristics measured at a real plant, clearly shows that the system energy consumption can be effectively reduced without negative effects on the production rate. Note to Practitioners The global industry trend towards sustainability demands energy optimization as a primary goal. Currently, industrial multirobot systems are not efficiently programmed as long as effective simulation tools are mostly lacking. In this context, a detailed model of the production line is proposed, which can be readily integrated into commercial tools for robot programming. Furthermore, the impact of practical optimization methods which are readily applicable to existing equipment is quantitatively highlighted. The key aspect of the proposed approach is that both the production rate of each cell and the robot hardware limitations are considered as strict constraints, so that no significant changes to the plant are required.
IEEE Transactions on Automation Science and Engineering