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Full Length Article | Open Access

Base placement optimization of a mobile hybrid machining robot by stiffness analysis considering reachability and nonsingularity constraints

Zhongyang ZHANGa, Juliang XIAOa,( ), Haitao LIUa, Tian HUANGa,b
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300340, China
School of Engineering, The University of Warwick, Coventry CV47AL, UK

Peer review under responsibility of Editorial Committee of CJA.

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Abstract

The mobile hybrid machining robot has a very bright application prospect in the field of high-efficiency and high-precision machining of large aerospace structures. However, an inappropriate base placement may make the robot encounter a singular configuration, or even fail to complete the entire machining task due to unreachability. In addition to considering the two constraints of reachability and non-singularity, this paper also optimizes the robot base placement with stiffness as the goal to improve the machining quality. First of all, starting from the structure of the robot, the reachability and nonsingularity constraints are transformed into a simple geometric constraint imposed on the base placement: feasible base placement area. Then, genetic algorithm is used to search for the base placement with near optimal stiffness (near optimal base placement for short) in the feasible base placement area. Finally, multiple controlled experiments were carried out by taking the milling of a protuberance on the spacecraft cabin as an example. It is found that the calculated optimal base placement meets all the constraints and that the machining quality was indeed improved. In addition, compared with simple genetic algorithm, it is proved that the feasible base placement area method can shorten the running time of the whole program.

Keywords

Mobile robotAerospace industryBase placement optimizationHybrid machining robotRobot applicationSingularity avoidanceStiffness optimization

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Chinese Journal of Aeronautics
Volume 36 Issue 11,
November 2023
Pages 398-416
DOI: 10.1016/j.cja.2022.12.014
Cite this article:
ZHANG Z, XIAO J, LIU H, et al. Base placement optimization of a mobile hybrid machining robot by stiffness analysis considering reachability and nonsingularity constraints. Chinese Journal of Aeronautics, 2023, 36(11): 398-416. https://doi.org/10.1016/j.cja.2022.12.014

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Received: 22 August 2022
Revised: 13 September 2022
Accepted: 29 October 2022
Published: 30 December 2022
© 2022 Chinese Society of Aeronautics and Astronautics.

This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
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