Transactions of Nanjing University of Aeronautics & Astronautics
Rotation Posture Optimization of Large Spacecraft Cabin During Robotic In-Situ Machining
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Abstract:
When robotic systems are used to perform the in-situ machining of the large spacecraft cabin， there is a dual-objective optimization issue concerning the numbers of cabin’s rotation and the overall machining performance of robots. An optimization method of cabins rotation scheme is proposed based on the robots’ stiffness characteristic and the non-dominated sorting genetic algorithm （NSGA）-Ⅱ. First， a quality evaluation index for all machining features is proposed based on the Cartesian stiffness of robots， and the process of machining is analyzed and modeled. Second， to utilize the NSGA-Ⅱ， a double chromosome coding method is proposed to encode the machining process， corresponding crossover and mutation operator is also designed. Third， to solve the frequent appearing of illegal codes， a repair operator that ensures the population’s evolutionary efficiency is specially designed based on the problem structure. Finally， the result of a case study shows that increasing the number of rotation postures to a certain extent can effectively improve the robots’ machining performance， and achieve a comprehensive optimization of the mission’s time efficiency and machining quality.
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Project Supported:
This work was supported in part by the National Natural Science Foundation of China （No. 52075256）. The authors realize that the time and space available for a review of such an ambitious subject are limited and， thus， regretfully， we are unable to cover many important contributions.
Clc Number:
TP242.2
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