Dynamics and vibration suppression of multi-robot collaborative machining system using transfer matrix method for multibody systems

Abstract

With the advantages of high efficiency and great flexibility, multi-robot collaborative machining systems have been gradually applied to the manufacturing and assembly of large-scale structural parts such as aerospace components, wind turbine blades, etc. However, due to the collaborative operation of multiple robotic machining cells, the weakly rigid components are subjected to multiple excitations, resulting in complex vibration, which seriously affects their shape accuracy and surface quality. Therefore, it is necessary to study the dynamics of multi-robot collaborative machining systems for high-precision and high-quality applications. In this paper, the dynamic model including several mobile robotic machining cells as well as a large-scale aerospace component is established using the transfer matrix method for multibody systems (MSTMM). The machining configuration of the robots is optimized using the NSGA-II to improve their machining stiffness. Furthermore, the propagation law of vibration waves generated by multiple machining excitations on the component is studied and the cooperative vibration suppression strategy for parallel machining is proposed, which effectively reduces the vibration response at the target machining position and ensures the machining quality. This paper provides an alternative for the applications of multi-robot machining systems in the field of high-precision manufacturing of large-scale components.