The use of mobile robots for machining large components has received considerable research interest for the application of industrial robots in the machinery manufacturing sector. However, the low structural stiffness of industrial robots can result in poor machining quality under the action of cutting forces. Therefore, this paper proposes a simultaneous optimization method the mobile robot base position and cabin angle using homogeneous stiffness domain (HSD) index for large spacecraft cabins. First, a nonlinear joint stiffness model that considers the gravity compensator mechanism is established to describe the stiffness characteristics of heavy-duty robots more accurately. Subsequently, a HSD index is proposed to evaluate the overall stiffness values and stiffness fluctuation for all robot postures in the machining program. An optimization model is then established based on the HSD under the constraints of machining accessibility, joint angle limitation and singularity. The optimal base position and cabin angle are determined simultaneously using the sparrow search algorithm. Finally, simulation and milling experiments are used to demonstrate that the optimization method proposed in this paper can effectively improve the machining quality.

中文翻译：

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通过具有非线性刚度特性的均匀刚度域指数优化机器人底座位置和航天器舱角度


使用移动机器人加工大型部件已经引起了工业机器人在机械制造领域应用的广泛研究兴趣。然而，工业机器人结构刚度较低，在切削力作用下会导致加工质量较差。因此，本文提出一种针对大型航天器舱室采用齐次刚度域（HSD）指数同时优化移动机器人底座位置和舱角的方法。首先，建立考虑重力补偿机构的非线性关节刚度模型，以更准确地描述重型机器人的刚度特性。随后，提出了HSD指数来评估加工程序中所有机器人姿势的整体刚度值和刚度波动。然后在加工可达性、关节角度限制和奇异性的约束下，基于HSD建立了优化模型。使用麻雀搜索算法同时确定最佳底座位置和机舱角度。最后通过仿真和铣削实验证明本文提出的优化方法能够有效提高加工质量。