Throughput Optimization in Constant TravelTime Dual Gripper Robotic Cells with Parallel Machines Academic Article uri icon


  • Constant travel-time robotic cells with a single gripper robot and with one or more machines at each processing stage have been studied in the literature. By contrast, cells with a dual gripper robot, although more productive, have so far received scant attention, perhaps due to their inherent complexity. We consider the problem of scheduling operations in dual gripper robotic cells that produce identical parts. The objective is to find a cyclic sequence of robot moves that minimizes the long-run average time to produce a part or, equivalently, maximizes the throughput. We provide a structural analysis of cells with one or more machines per processing stage to obtain first a lower bound on the throughput and, subsequently, an optimal solution under conditions that are common in practice. We illustrate our analysis on two cells implemented at a semiconductor equipment manufacturer and offer managerial insights for assessing the potential productivity gains from the use of dual gripper robots. 2006 Production and Operations Management Society.

published proceedings

  • Production and Operations Management

author list (cited authors)

  • Geismar, H. N., Dawande, M., & Sriskandarajah, C.

citation count

  • 30

complete list of authors

  • Geismar, H Neil||Dawande, Milind||Sriskandarajah, Chelliah

publication date

  • June 2006