This study considers a flowshop type production system consisting of m machines. A material handling robot transports the parts between the machines and loads and unloads the machines. We consider the sequencing of the robot moves and determining the speeds of these moves simultaneously. These decisions affect both the robot’s energy consumption and the production speed of the system. In this study, these two objectives are considered simultaneously. We propose a second order cone programming formulation to find Pareto efficient solutions. We also develop a heuristic algorithm that finds a set of approximate Pareto efficient solutions. The conic formulation can find robot schedules for small cells with less number of machines in reasonable computation times. Our heuristic algorithm can generate a large set of approximate Pareto efficient solutions in a very short computational time. Proposed solution approaches help the decision-maker to achieve the best trade-off between the throughput of a cell and the energy efficiency of a material handling robot.

本研究考虑由 m 台机器组成的流水车间型生产系统。物料搬运机器人在机器之间运输零件并装载和卸载机器。我们考虑机器人移动的顺序并同时确定这些移动的速度。这些决定会影响机器人的能耗和系统的生产速度。在本研究中，这两个目标是同时考虑的。我们提出了一个二阶锥规划公式来找到帕累托有效的解决方案。我们还开发了一种启发式算法，可以找到一组近似的帕累托有效解决方案。圆锥公式可以在合理的计算时间内找到机器数量较少的小型单元的机器人调度。我们的启发式算法可以在很短的计算时间内生成大量近似帕累托有效解决方案。提议的解决方案方法可帮助决策者在单元的吞吐量和物料搬运机器人的能源效率之间实现最佳权衡。