Robotic Milling System For Machining Spacecraft Stent

In recent years,the Aerospace China enterprise was developed rapidly,completing from the successful launch of Shenzhou one to successful launch of Shenzhou eleven,meanwhile,higher requirements was also put forward on the space equipment design and manufacture.This paper will do research on the application of robot milling in aerospace,the main research is as follows:1)According to product requirements and technique target,the robot milling system is put forward,including system layout,system functions,system work flow and system control.2)According to the structural characteristics of spacecraft and stent requirements analysis,this paper complete system design,including system layout,system functions,system work flow and system control.3)The structure of the milling end-effector is designed in detail and a precision testing experiment of the milling robot was carried out.The position recognition and the attitude resolution accuracy were identified.4)An on-line detection algorithm of the robot milling system is proposed.Based on the measurement of the laser tracker,a machining margin detection algorithm and an on-line tool path planning method are established.5)An experiment platform of milling is built and the experimental scheme is designed.The experimental results show that the milling precision of the robot can reach 0.1mm and the surface roughness Ra is below 1.6 ?m,which can meet the accuracy requirements of machining.