Halil İbrahim ŞAHİN, Ayşe Nur KARACAN, Mihrimah ÖZMEN

İNSAN-ROBOT İŞ BİRLİĞİ İLE ÇOK AMAÇLI MONTAJ HATTI DENGELEME

Sanayi Devriminden itibaren, artan rekabete uyum sağlamak için robotlar üretimde ve montaj hatlarında insanların yanında yer almaya başlamıştır. İnsan ve robot birbirinden çok farklı dinamiklere sahip iki farklı yapı oldukları için montaj hattı dengeleme (MHD) problemi daha karmaşık hale gelmektedir. Robotik montaj hattı dengeleme (RMHD) literatürde güncel olarak çalışılan konular arasında yer almaktadır fakat insan robot iş birliği ile MHD problemi yeni bir çalışma alanıdır. Bu çalışmada insan-robot iş birliği ile montaj hattı dengeleme probleminin çözümü için yeni bir matematiksel model önerilmiştir. Önerilen modelde, literatürdeki RMHD çalışmalarından farklı olarak insanın ve robotun birlikte çalışması durumuna ek olarak aynı istasyona insan ve robot birlikte çalışmasının sakıncalı olduğu durumlar da dikkate alınmıştır. Gerçek hayatta montaj hatlarının performansı birbirleriyle çelişen birçok amaçla değerlendirilmektedir. Bütün bunlar göz önünde bulundurularak, insan robot iş birliği ile MHD problemine Çok Kriterli Karar Verme (ÇKKV) ve hedef programlama tekniklerinin entegre edildiği çok amaçlı çözüm yaklaşımı önerilmiştir. Önerilen yaklaşımda, robot/insan çalışan maliyeti, çevrim süresi ve iş istasyonu sayısının minimize edilmesi amaçlanmıştır. Bu amaçların öncelik sıralamaları üretilen ürüne, firmaya vb. sebeplerden dolayı farklılık göstermektedir. Bu nedenle üç amacın önem sırasından bağımsız olarak optimal MHD çözümü bulunmuştur. Amaçların bütün farklı önem sırasının kombinasyonu için model sırasıyla GAMS yazılımı ile çözdürülerek sonuçlar elde edilmiştir. Sonuçlar, altı kriter (robot/insan çalışan maliyeti, çevrim süresi, iş istasyonu sayısı, hat etkinliği, düzgünlük indeksi ve denge gecikmesi) açısından ÇKKV yaklaşımları olan BWM- MABAC sonuçlarına göre en iyi MHD seçeneği belirlenmiştir. Kriter ağırlıklarının duyarlılık analizi yapılarak, kriter ağırlıklarının sonuçlarının sağlamlığı incelemiştir. Önerilen yaklaşım örnek veri seti üzerinde uygulanmış ve sonuçları analiz edilmiştir.

Anahtar Kelimeler:

Çok amaçlı optimizasyon, İnsan-Robot İş Birliği ile Montaj Hattı, ÇKKV, BWM-MABAC

MULTI-OBJECTIVE ASSEMBLY LINE BALANCING WITH HUMAN-ROBOT COLLABORATION

Since the Industrial Revolution, robots have started to take their place alongside humans in production and assembly lines in order to adapt to the increasing competition. Since human and robot are two different structures with very different dynamics, the assembly line balancing (ALB) problem becomes much more complex. Wıth the human-robot collaboration ALB problem is a new fıeld of study and yet there are limited studies on this subject. in this study; a new mathematical model has been proposed to solve the problem of the ALB with the human/robot cooperation. In the proposed model it is paid attention to situation of human and robot working together in addition to the unfavorable situations of human/robot cooperation. In real life, the performance of assembly lines is evaluated for many conflicting objectives. Considering all these, a multi-objective solution approach is proposed in which Multi-Criteria Decision Making (MCDM)and goal programming techniques are integrated to the human-robot co-operation for ALB problem. In the proposed approach, it is aimed to minimize the robot/human employee cost, cycle time and number of workstations. The order of priority of these objectives differs for reasons of the product produced, the company, etc. Therefore the optimal ALB solution was found regardless of the importance of three points. The results have been obtained using the GAMS software solving with respect to the model, of the combination of objectives’ all different importance order. The results determined the best ALB option based on the results with the perspective of BWM-MABAC MCDM approaches of six criteria (robot/human worker cost, cycle time, number of workstations, line efficiency, smoothness index, and balance delay). Sensitivity analysis of criterion weights examined the robustness of the results of criterion weights. The proposed approach was applied on the sample data set and the results were analyzed.

Keywords:

Multi-objective optimization, Human- Robot Mixed Assembly Line, Multi-Criteria Decision Making, BWM-MABAC,

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