面向大型舱体的多移动机器人加工区域划分及站位规划  

Processing Area Partitioning and Station Planning of Multi-Mobile Robot for Large Cabin

作　　者：赵娇[1] 路勇[1] ZHAO Jiao;LU Yong(Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《航空制造技术》2025年第4期67-75,共9页Aeronautical Manufacturing Technology

基　　金：国家重点研发计划(2018YFB1306803)。

摘　　要：在多移动机器人原位加工大型构件这一新型制造模式下,依据加工特征分布及机器人加工可达性,合理安排各机器人加工顺序及站位是保证加工顺利实施的关键。本文针对大型航天舱体多支架表面加工需求,在阐述多移动机器人并行加工系统原理的基础上,着重研究加工区域划分和机器人站位规划问题。首先,规划了多机并行加工流程,提出了舱体轴向和径向的区域划分方法,进行了舱体工作空间栅格化处理;然后,利用机器人的逆解提取出机器人的可行站位集,完成多台移动机器人的站位规划;最后,选择包含4类机器人的多机系统,进行了示例舱体的仿真验证,相比于传统方法,本文提出的多机器人并行加工方法使大型舱体支架加工的生产效率提高了82%,效果显著。In the novel manufacturing mode of in-situ processing for large components by multi-mobile robots,reasonable arrangement of processing sequences and stations for each robot based on processing feature distribution and robot processing accessibility is crucial to ensure smooth processing implementation.This paper focuses on the surface processing requirements of multiple brackets on large aerospace cabin bodies.After explaining the principles of the multi-mobile robot parallel processing system,the paper emphasizes the problems of processing area partitioning and robot station planning.Firstly,the multi-robot parallel processing flow is outlined,methods for axial and radial partitioning of the cabin are proposed,and the cabin workspace rasterization is performed.Then,by utilizing the inverse solution of the robot,the feasible robot station set is extracted to accomplish the station planning for multiple mobile robots.Finally,a multi-robot system containing four types of robots is chosen,and simulation verification is conducted on an example cabin.Compared with the traditional method,the multi-robot parallel processing method proposed in this paper increases the production efficiency of large cabin brackets processing by 82%,and the effect is remarkable.

关 键 词：大型舱体 多移动机器人 加工区域划分 站位规划 原位加工 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]