KINEMATIC ANALYSIS AND APPLICATION OF A HUGE WORKPIECE HANDLING SYSTEM BASED ON MULTI-ROBOT COORDINATION

摘要

This paper studies the application of multi robot coordination system in machining of huge cylindrical workpieces. The structure and coordination method of the workpiece's 6 DOF adjustment is presented, which is based on the coordination of multiple 3 DOF mobile robots. Assuming the workpiece as a rigid body moving in small displacement, we build the kinematics model and the inverse algorithm of the system, and also, a simplified algorithm, which is applicable for real time trajectory planning. Finally, A numerical example is provided to illustrate the inverse algorithm.