Study on robotic mobile machining techniques for large complex components

摘要

<p indent=0mm>Large complex components, such as wind turbine blades, aircraft structural parts, and parts of high-speed train, have been widely used in the field of aerospace, energy and transportation. In order to realize the automatic machining of the large complex components, it is possible to integrate the industrial robot arm into a mobile platform constituting a mobile-robot, so that the workspace and dexterity of the mobile-robot have significant increase. In this paper, around the topic of mobile-robotic machining technique, literature with respect to the dynamics and control of mobile-robots, multi-robot cooperative machining and measurement and reconstruction of large components will be revisited, which are the key techniques to realize the mobile-robotic machining. Furthermore, through the theoretical and experimental studies, the dynamic property of the mobile-robot during polishing process is analyzed. Based on the dynamic model of the mobile-robot, a T-S fuzzy control is designed, which aims to lead the robot following the surface of the workpiece with constant normal force and constant speed. Simulation results testified that the mobile-robot under the T-S fuzzy control can realize the polishing machining with constant normal force with constant speed.