TY - GEN
T1 - Research on Positioning of Mobile Robot with Manipulator Arm for Machining of Large Cabin Support in Original Position
AU - Wang, Lin
AU - Tong, Yi
AU - Wang, Rui
AU - Zhong, Shisheng
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - The processing of large-scale cabin support parts for manned spaceflight requires repeated installation, processing and measurement, resulting in low processing efficiency and poor processing accuracy. This paper proposes a method of using a mobile processing robot to complete the processing of bracket parts, and studies the difficult problem of station planning in this method. This paper establishes the coordinate system and coordinate transformation system of each object in the processing process, rasterizes the working space of the processing cabin, and uses the inverse solution of the robot to filter out the feasible station area in the working space, and through the type of support that can be processed The optimal Z-direction feasible site hierarchy is selected with the number of site points, and finally the smallest site set is selected in the optimal hierarchy to complete the site planning of the mobile robot. In this paper, we select a mobile robot with a KUKA manipulator to randomly process a space capsule for experimental verification. The results show that this method can effectively improve the processing efficiency of the capsule bracket.
AB - The processing of large-scale cabin support parts for manned spaceflight requires repeated installation, processing and measurement, resulting in low processing efficiency and poor processing accuracy. This paper proposes a method of using a mobile processing robot to complete the processing of bracket parts, and studies the difficult problem of station planning in this method. This paper establishes the coordinate system and coordinate transformation system of each object in the processing process, rasterizes the working space of the processing cabin, and uses the inverse solution of the robot to filter out the feasible station area in the working space, and through the type of support that can be processed The optimal Z-direction feasible site hierarchy is selected with the number of site points, and finally the smallest site set is selected in the optimal hierarchy to complete the site planning of the mobile robot. In this paper, we select a mobile robot with a KUKA manipulator to randomly process a space capsule for experimental verification. The results show that this method can effectively improve the processing efficiency of the capsule bracket.
KW - Coordinate transformation
KW - Rasterization
KW - Robot station planning
UR - https://www.scopus.com/pages/publications/85127850193
U2 - 10.1007/978-981-16-7381-8_40
DO - 10.1007/978-981-16-7381-8_40
M3 - 会议稿件
AN - SCOPUS:85127850193
SN - 9789811673801
T3 - Mechanisms and Machine Science
SP - 607
EP - 624
BT - Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021
A2 - Tan, Jianrong
PB - Springer Science and Business Media B.V.
T2 - International Conference on Mechanical Design, ICMD 2021
Y2 - 11 August 2021 through 13 August 2021
ER -