Spacecraft Capsule Machining Layout for Multi-Robot Rotation Planning
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Solution Overview
Problem
Current methods for machining large spacecraft cabin components are inefficient due to the large size and low rigidity of components, requiring repeated assembly and disassembly, high manufacturing costs, and limited machining travel, and existing multi-robot collaborative planning methods fail to effectively handle complex task situations with changing bracket orientations and workspace competition.
Innovation Solution
A multi-robot collaborative planning method that involves importing a 3D mathematical model of the spacecraft cabin, determining robot workspace envelopes, optimizing robot movement flexibility, planning cabin rotation positions, and assigning machining tasks using a genetic algorithm and task auction algorithm to improve machining efficiency and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a gantry type multi-axis numerically controlled machine tool is used to machine large spacecraft cabin components, then machining precision can be maintained, but the manufacturing cost increases and machining travel is limited
Solution Approach 1:
The patent replaces the traditional gantry type multi-axis numerically controlled machine tool with a multi-robot collaborative machining system. This substitution uses robotic manipulators with flexible positioning and orientation capabilities to perform machining tasks, thereby reducing manufacturing cost while maintaining machining precision through advanced control algorithms and coordination mechanisms.
Solution Approach 2:
The patent introduces a multi-robot collaborative system where robots can dynamically adjust their positions and orientations to machine brackets at different locations on the cabin component. This dynamic capability allows the system to handle large-sized components with extended machining travel without increasing device complexity, as the robots move rather than requiring a large fixed machining center.
2Reliability
If a gantry type multi-axis numerically controlled machine tool is used, then machining can be performed with single machining object capability, but productivity decreases due to repeated assembly and disassembly
Solution Approach 1:
The patent implements a multi-robot collaborative machining system that can continuously machine multiple brackets on the cabin component without repeated assembly and disassembly. The robots coordinate their movements to machine different brackets in sequence or simultaneously, maintaining continuous productive action and eliminating the downtime associated with repositioning and reassembly operations.
Solution Approach 2:
The patent merges multiple machining operations into a single setup by using multiple robots working collaboratively on the same cabin component. This combination allows all brackets to be machined in one continuous process, improving productivity while maintaining reliability through the coordinated control of the robot team.
3Productivity
If robots are used to machine all brackets in the circumferential direction without changing cabin rotation angle, then machining efficiency improves, but robot workspace coverage is insufficient
Solution Approach 1:
The patent employs a positioner device that can rotate the cabin component to different angles, enabling robots to access and machine brackets located in different circumferential positions. This dynamic rotation capability expands the effective workspace coverage of the robot system without requiring multiple fixed robot stations, thereby maintaining high machining efficiency while covering the entire circumferential area.
Solution Approach 2:
The patent introduces a positioner as an intermediary device between the robots and the cabin component. This positioner rotates the cabin to bring different bracket locations within the robots' workspace envelope, effectively extending the robots' reach without increasing the robots' own physical size or complexity.
4Area of stationary object
If cabin rotation is performed to enable robots to cover all bracket tasks, then workspace coverage improves, but machining time increases due to rotation positioning requirements
Solution Approach 1:
The patent pre-plans the cabin rotation angles and robot trajectories to minimize the total rotation positioning time. By calculating the optimal rotation sequence and angles in advance, the system reduces unnecessary rotations and positioning adjustments, thereby expanding workspace coverage while minimizing the time lost to rotation operations.
Solution Approach 2:
The patent coordinates cabin rotation with robot machining operations to maintain continuous productive action. The positioner rotates the cabin smoothly between machining operations, and the robots are programmed to transition between targets during rotation, minimizing idle time and ensuring that workspace coverage expansion does not significantly increase total machining time.
Data Source
AI summary
A multi-robot collaborative planning method for machining a large capsule member of a Spacecraft is described. The method comprises: 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. The machining process for a large capsule is efficiently planned by selecting optimal rotation schemes and robot station positions, enhancing the rigidity of robot collaboration. This planning also streamlines the machining timeline, making the multi-robot task more compact and reducing idle time, thus boosting overall machining efficiency.