Title:
MULTI-ROBOT COLLABORATIVE PLANNING METHOD FOR MACHINING LARGE CAPSULE MEMBER OF SPACECRAFT
Document Type and Number:
WIPO Patent Application WO/2024/060822
Kind Code:
A1
Abstract:
A multi-robot collaborative planning method for machining a large capsule member of a spacecraft. The method comprises: for a multi-robot collaborative machining process of a large capsule member of a spacecraft, first, planning the number of instances of rotational displacement of a capsule, and the angle of each rotation; then, planning a multi-robot station layout and station switching strategy; and finally, when the position of the capsule and robot stations are fixed, planning a multi-robot machining task time sequence. By means of the method, the machining process of the large capsule member can be rapidly and systematically planned, and a scheme for the rotational displacement of the capsule and a scheme for the robot stations are rationally selected, thereby improving the rigidity of the collaborative operation of robots; and a machining time sequence is rationally planned, such that a multi-robot machining task process is more compact, and the idle time of the robots can be shortened, thereby improving the multi-robot collaborative machining efficiency.
Inventors:
TIAN WEI (CN)
LIN JIAMEI (CN)
LI BO (CN)
LIAO WENHE (CN)
LI PENGCHENG (CN)
LIN JIAMEI (CN)
LI BO (CN)
LIAO WENHE (CN)
LI PENGCHENG (CN)
Application Number:
PCT/CN2023/109023
Publication Date:
March 28, 2024
Filing Date:
July 25, 2023
Export Citation:
Assignee:
UNIV NANJING AERONAUTICS & ASTRONAUTICS (CN)
International Classes:
B25J9/16
Domestic Patent References:
| WO2022094746A1 | 2022-05-12 |
Foreign References:
| CN109849019A | 2019-06-07 | |||
| CN114669916A | 2022-06-28 | |||
| CN114925988A | 2022-08-19 | |||
| CN115122338A | 2022-09-30 |
Attorney, Agent or Firm:
JIANGSU SUNDY LAW FIRM (CN)
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