AI Chat Paper
Discover the SciOpen Platform and Achieve Your Research Goals with Ease.
Search articles, authors, keywords, DOl and etc.
{{expandStatus?'Exit ':''}}Advanced Search
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.
Zhou ZR, Tang XW, Chen C, et al. High precision and efficiency robot milling of complex parts: challenges, approaches and trends. Chin J Aeronaut 2022;35:22–46.
Wu J, Wang JS, Wang LP, et al. Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy. Mech Mach Theory 2009;44:835–49.
Wu J, Yu G, Gao Y, et al. Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool. Mech Mach Theory 2018;121:430–45.
Wu J, Song YY, Liu ZL, et al. A modified similitude analysis method for the electro-mechanical performances of a parallel manipulator to solve the control period mismatch problem. Sci China Technol Sci 2022;65:541–52.
Moller C, Schmidt HC, Koch P, et al. Machining of large scaled CFRP-Parts with mobile CNC-based robotic system in aerospace industry. Procedia Manuf 2017;14:17–29.
Tao B, Zhao XW, Ding H. Mobile-robotic machining for large complex components: a review study. Sci China Technol Sci 2019;62:1388–400.
Wang GL, Hua XT, Xu J, et al. A deep learning based automatic surface segmentation algorithm for painting large-size aircraft with 6-DOF robot. Assem Autom 2020;40:199–210.
Zhang T, Wu MH, Zhao YZ, et al. Motion planning for a new-model obstacle-crossing mobile welding robot. Ind Robot 2014;41:87–97.
Luis OJ, Scott W. New PKM Tricept T9000 and its application to flexible manufacturing at aerospace industry. SAE Tech Pap 2007;1:3820.
Wu J, Ye H, Yu G, et al. A novel dynamic evaluation method and its application to a 4-DOF parallel manipulator. Mech Mach Theory 2022;168:104627.
Luo X, Xie FG, Liu XJ, et al. Error modeling and sensitivity analysis of a novel 5-degree-of-freedom parallel kinematic machine tool. P I Mech Eng B-J Eng 2021;69:48–61.
Xie ZH, Xie FG, Liu XJ, et al. Tracking error prediction informed motion control of a parallel machine tool for high-performance machining. Int J Mach Tool Manu 2021;164:103714.
Dong CL, Liu HT, Xiao JL, et al. Dynamic modeling and design of a 5-DOF hybrid robot for machining. Mech Mach Theory 2021;165:104438.
Ding YB, Zhang ZY, Liu XP, et al. Development of a novel mobile robotic system for large-scale manufacturing. Proc Inst Mech Eng Part B 2021;235:2300–9.
Wan M, Liu Y, Xing WJ, et al. Singularity avoidance for five-axis machine tools through introducing geometrical constraints. Int J Mach Tools Manuf 2018;127:1–13.
Liu Q, Huang T. Inverse kinematics of a 5-axis hybrid robot with non-singular tool path generation. Robot Comput-Integr Manuf 2019;56:140–59.
Ur-Rehman R, Caro S, Chablat D, et al. Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis. T Can Soc Mech Eng 2009;33:533–41.
Ye CC, Yang JX, Zhao H, et al. Task-depend workpiece placement optimization for minimizing contour errors induced by low posture-dependent stiffness of robotic milling. Int J Mech Sci 2021;205:106601.
Lin Y, Zhao H, Ding H. Posture optimization methodology of 6R industrial robots for machining using performance evaluation indexes. Robot Comput-Integr Manuf 2017;48:59–72.
Kamrani B, Berbyuk V, Wappling D, et al. Optimal robot placement using response surface method. Int J Adv Manuf Technol 2009;44:201–10.
Jiao JC, Tian W, Liao WH, et al. Processing configuration off-line optimization for functionally redundant robotic drilling tasks. Robot Auton Syst 2018;110:112–23.
Fan Q, Gong ZY, Tao B, et al. Base position optimization of mobile manipulators for machining large complex components. Robot Comput-Integr Manuf 2021;70:102138.
Mits S, Bouzakis KD, Sagris D, et al. Determination of optimum robot base location considering discrete end-effector positions by means of hybrid genetic algorithm. Robot Comput-Integr Manuf 2008;24:52–9.
Ren SN, Yang XD, Xu J, et al. Determination of the base position and working area for mobile manipulators. Assem Autom 2016;36:80–8.
Yu QK, Wang GL, Hua XT, et al. Base position optimization for mobile painting robot manipulators with multiple constraints. Robot Comput-Integr Manuf 2018;54:56–64.
Son SW, Kwon DS. A convex programming approach to the base placement of a 6-DOF articulated robot with a spherical wrist. Int J Adv Manuf Technol 2019;102:3135–52.
Yoshikawa T. Manipulability of robotic mechanisms. Int J Robotics Res 1985;4:3–9.
Hayes MJD, Husty ML, Zsombor-Murray PJ. Singular configurations of wrist-partitioned 6R serial robots: a geometric perspective for users. T Can Soc Mech Eng 2002;26:41–55.
Dong CL, Liu HT, Yue W, et al. Stiffness modeling and analysis of a novel 5-DOF hybrid robot. Mech Mach Theory 2018;125:80–93.
Doan NCN, Lin W. Optimal robot placement with consideration of redundancy problem for wrist-partitioned 6R articulated robots. Robot Comput-Integr Manuf 2017;59:233–42.
Vosniakos GC, Matsas E. Improving feasibility of robotic milling through robot placement optimization. Robot Comput-Integr Manuf 2010;26:517–25.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
京公网安备11010802044758号