Robotic aero-engine pipe grasping posture and motion planning method in multi-stage processing based on multi-objective optimization

doi:10.1016/j.jmsy.2025.05.011

Robotic aero-engine pipe grasping posture and motion planning method in multi-stage processing based on multi-objective optimization

2025-05-21

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DOI：10.1016/j.jmsy.2025.05.011

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• A gravity deformation model is provided and used to compensate for the linear motion. • An improved NSGA-II algorithm includes time, energy consumption, and vibration suppression. • Sequential conversions between the postures of original digital model and various workstations can be achieved. • Stability testing reveals that the processing results are stable and predictable. • The proposed method can significantly improve manufacturing efficiency.

Robotic aero-engine pipe grasping posture and motion planning method in multi-stage processing based on multi-objective optimization

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