Development Of Off-line Programming System For Processing Large-scale Cabin With Multiple Mobile Robots

With the advancement of the state's major space program,the requirements for largescale cabins are increasingly high.Large-scale cabins are characterized by large size and large mass,and its bracket is diversified and scattered in various positions.At present,the traditional machining method can not meet the requirement of machining efficiency,but the multiple robot machining can improve the efficiency.In this paper,an off-line programming system for processing large-scale cabin multiple mobile robot is developed to solve the problem of complex steps and low efficiency using general off-line programming software.Firstly,the overall design of off-line programming system of large-scale cabin multiple mobile robot machining is carried out.The processing requirements and off-line programming system requirements of large-scale cabin support are analyzed.By analyzing the development method of robot off-line programming system,the off-line programming system is developed based on NX12.0 software.The functional modules of off-line programming system are divided and its working flow is expounded.Secondly,the global path planning of multiple mobile robots based on the improved A*algorithm is studied.Based on the analysis of the defects of the traditional A*algorithm,an improved A*algorithm is proposed,and the advantages of the improved A*algorithm are illustrated by the simulation example.The global path planning of the multiple mobile robot is carried out,and the simulation results show that the path planning of the multiple mobile robot is the shortest,safe and conflict free path.Then,based on the stiffness performance index,the optimization of redundancy degree of freedom for serial robot machining is studied.The redundant degree of freedom of rotation around the cutter axis is explained when the serial robot is used in machining.The kinematics model of the serial robot is established by D-H method,and then the stiffness model of the serial robot is established.An optimization algorithm of redundancy degree of freedom for serial robot machining is proposed,and the validity of the algorithm is proved by simulation example.The experimental platform of the milling robot is established,and the experimental results show that the optimization of redundant degrees of freedom can effectively improve the machining accuracy.Finally,an off-line programming system for machining of large-scale cabin multiple mobile robots is implemented.The function bar area of off-line programming system is established by using NX 12.0 second development tool.The data of the off-line programming system is analyzed,the data table is designed,and the data management module of the off-line programming system is realized by using C++language and Access database.The application layer of the off-line programming system is developed,in which the functional modules include processing environment building module,processing planning module,serial robot processing redundant degree of freedom optimization module,multiple mobile robot path planning module,large-scale cabin rotation planning module,multiple mobile robot and cabin motion simulation module and post-processing module.Using the off-line programming system,the motion simulation of three serial robots machining the large-scale cabin support is realized,and the robot machining code is generated.