大尺度复杂构件群体机器人协同并行制造系统集成的关键技术  

Key Technologies of Swarm Robotic Cooperative Parallel Manufacturing System Integration for Large Scale Complex Components

作　　者：王哲[1,2] 丰飞 郭峰 WANG Zhe;FENG Fei;GUO Feng(Dalian University of Technology,Dalian 116024,China;Shanghai Quanpu Technology Co.,Ltd,Shanghai 201504,China)

机构地区：[1]大连理工大学,大连116024 [2]上海铨朴科技有限公司,上海201504

出　　处：《航空制造技术》2025年第4期53-66,共14页Aeronautical Manufacturing Technology

摘　　要：以航空、航天、航海及轨道交通等领域大尺度复杂构件的高效、高质量加工需求为导向,探究基于群体机器人集群化并行制造系统的大构件多移动机器人协同制造系统的关键技术。围绕典型大尺度构件的加工工艺需求,基于移动测量机器人、移动加工机器人和移动装配机器人等多种类、多形式移动机器人的设计和研制,提出基于多移动机器人协同并行制造方案、大构件机器人化加工机器人本体设计方案、多模态协作机器人感知与测量方案、多机器人协同的加工机器人本体控制器及群体加工机器人系统控制方案。阐述多群体机器人移动加工的机器人控制策略与方案,针对加工机器人群体协同并行加工方法、大构件测量与群体机器人协同控制等关键技术,不但从本体研发、控制器等方面探究了国产工业机器人性能提升与优化的方法,也力图为后续航空航天等领域的大构件加工拓展工作思路。Guided by the requirements for highly efficient and high-quality processing of large-scale complex components in fields such as aerospace,marine navigation,and rail transit,this paper explores the key technologies of the multi-mobile robot collaborative parallel manufacturing system for large components,which is based on the group robot clustered parallel manufacturing system.Centering on the processing technology requirements of typical large-scale components,and based on the design and development of various and multi-form mobile robots,including mobile measuring robots,mobile machining robots,and mobile assembly robots,this paper puts forward a collaborative parallel manufacturing scheme based on multi-mobile robots,a robot body design scheme for robotic machining of large components,a multi-modal collaborative robot sensing and measurement scheme,as well as control schemes for the multi-robot collaborative machining robot body controller and the group machining robot system.It elaborates on the control strategies and schemes for multi-group robots in mobile machining.Regarding key technologies such as the collaborative parallel machining methods for groups of machining robots,large component measurement,and group robot collaborative control,this paper not only explores ways to improve and optimize the performance of domestic industrial robots from the aspects of robot body research&development and controllers but also attempts to broaden the working ideas for subsequent large component processing in aerospace and other fields.

关 键 词：大尺度构件 自主移动机器人 群体机器人 自主控制 多机器人协同并行制造 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V260.6[自动化与计算机技术—控制科学与工程]