Design and Analysis of a Hybrid Mechanism for Cluster Machining of Complex Curved Surface

doi:10.3901/JME.2025.21.389

Abstract

Abstract: To meet the demand for machining of space vehicle storage tanks in future multi-mission scenarios and to realize high-quality and high-efficiency machining of large complex curved surfaces, a multi-robot hybrid unit cluster machining method is proposed, and focuses on the design and analysis of the hybrid mechanism around the design problem of the robot hybrid unit. First, by analyzing the demand of complex surface machining tasks, the multi-robot hybrid cell cluster machining mode of sub-area cooperative operation is constructed, and the functional requirements of the robot hybrid unit are determined. Then, a novel reconfigurable large extension 6-PRRRR-P₁-SP₂S hybrid mechanism is designed, and its reconfiguration mode, degrees of freedom, and kinematics are analyzed. Then, taking the typical reconfigurable configuration 6-PRRRR-SP2S hybrid mechanism as an example, the kinematic performance analysis and dimensional optimization are carried out to effectively improve the performances. Finally, using the kinematic theory calculation and simulation analysis, and making a scaled-down prototype experimental platform, it is verified that the function of the mechanism can meet the requirements. The reconfigurable large extension hybrid mechanism designed is characterized by large workspace, high dexterity, and high stiffness. It provides theoretical support for engineering applications, and can be applied to cluster machining of large complex curved surfaces in the future.

Key words: large complex surfaces, cluster machining, hybrid mechanism, configuration design, performance analysis

CLC Number:

TH112
V475

HE Litao, FANG Hairong, CHEN Yufei, JIN Zhengxian. Design and Analysis of a Hybrid Mechanism for Cluster Machining of Complex Curved Surface[J]. Journal of Mechanical Engineering, 2025, 61(21): 389-402.

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