可移动机器人检测铣削系统建模与仿真研究

Research on Modeling and Simulation of Mobile Robot Inspection and Milling System

针对航天器大型密封舱体的组合加工过程中存在的加工装调流程复杂,修配与测量反复迭代,制造周期长,且精度和质量难以保证的问题。提出了一种基于可移动机器人检测铣削系统的制造模式,通过工艺层、规划层、系统层耦合设计的方法进行系统建模,基于仿真结果评价系统模型的有效性,对于不满足要求的结果需反馈至对应层级进行再设计并进行仿真验证。并以实验舱体舱外支架组合加工为例,搭建可移动机器人检测铣削系统并进行仿真分析。结果表明,通过系统建模和仿真能够有效的避免干涉、提高效率,并能够对整个工艺过程进行优化。

According to the problem of complicated process of machining and assembling,repeated iteration of repair and measurement,long manufacturing cycle,hard to guarantee accuracy and quality during combined machining process of large spacecraft sealed cabin.It puts forward a model of manufacturing based on mobile robot inspection and milling system,through the process layer,planning layer,system layer coupled design method for system modeling,evaluating the validity of system model based on simulation results.The result that do not meet the requirements need to be feedback to the corresponding layer for redesign and simulation verification.Finally,taking the combined machining for experimental cabin brackets as an example,a mobile robot inspection and milling system was built.The results show that system modeling and simulation can effectively avoid interference,improve efficiency and optimize the entire process.