首页|Continuous stiffness optimization of mobile robot in automated fiber placement

Continuous stiffness optimization of mobile robot in automated fiber placement

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The low stiffness of series robots limits their application in high-load precision manufacturing, such as automated fiber placement (AFP). This paper presents a stiffness optimization method to enhance the stiffness of plane-mobile robots in continuous fiber placement by simultaneously adjusting the robot's posture and the base position. A stiffness performance index suitable for evaluating the comprehensive stiffness of the robot during the AFP process is proposed, which is based on the fluctuation characteristics of the contact force in fiber placement. To maximize this index and the normal stiffness, the multi-objective particle swarm optimization algorithm (MOPSO) is used to solve the two-objective optimization model under multiple constraints. The constrained area of the mobile robot base corresponding to a given path point is determined by the fixed-height slice of the robot's reachable point cloud. A novel method combining global discrete solution and local continuous solution (GD-LC) is proposed to solve the model efficiently, which reduces the search dimension of the MOPSO algorithm. Experimental results from fiber placement on an aircraft mold show that the proposed method can significantly improve the stiffness performance of the AFP robot, and the force-induced deformation after continuous stiffness optimization is reduced by 70.01 % on average. The optimized laying quality further validates the engineering value of the proposed method.

Continuous stiffness optimizationAutomated fiber placementStiffness performance indexMobile robot

Lei Miao、Weidong Zhu、Yingjie Guo、Xiaokang Xu、Wei Liang、Zhijia Cai、Shubin Zhao、Yinglin Ke

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State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, PR China||Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, PR China

Hangzhou Aimei Aviation Manufacturing Equipment Co., Ltd., Hangzhou, 311228, PR China

2025

Robotics and computer-integrated manufacturing

Robotics and computer-integrated manufacturing

SCI
ISSN:0736-5845
年,卷(期):2025.91(Feb.)
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