Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface
The safe removal of residual flammable contaminants from vertical mixer blades is a crucial challenge in aerospace propellant production. While robotic cleaning has become the preferred solution due to its precision and operational safety, the complex helical geometry of mixer blades presents signif...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Journal of Manufacturing and Materials Processing |
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| Online Access: | https://www.mdpi.com/2504-4494/9/6/198 |
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| author | Zhouzheng Shi Leiyang Guo Jingde Li Ni Cao Xiansheng Qin Zhanxi Wang |
| author_facet | Zhouzheng Shi Leiyang Guo Jingde Li Ni Cao Xiansheng Qin Zhanxi Wang |
| author_sort | Zhouzheng Shi |
| collection | DOAJ |
| description | The safe removal of residual flammable contaminants from vertical mixer blades is a crucial challenge in aerospace propellant production. While robotic cleaning has become the preferred solution due to its precision and operational safety, the complex helical geometry of mixer blades presents significant challenges for robotic systems, primarily in three aspects: (1) dynamic sub-region division, requiring simultaneous consideration of functional zones and residue distribution, (2) ensuring path continuity across surfaces with varying curvature, and (3) balancing time–energy efficiency in discontinuous cleaning sequences. To address these challenges, this paper proposes a novel robotic cleaning path planning method for complex curved surfaces. Firstly, we introduce a blade surface segmentation approach based on the k-means++ clustering algorithm, along with a sub-surface patch boundary determination method using parameterized curves, to achieve precise surface partitioning. Subsequently, robot cleaning paths are planned for each sub-surface according to cleaning requirements and tool constraints. Finally, with total cleaning time as the optimization objective, a genetic algorithm is employed to optimize the path combination across sub-facets. Extensive experimental results validate the effectiveness of the proposed method in robotic cleaning path planning. |
| format | Article |
| id | doaj-art-cd2977be76e040d68586a47cffb7f84a |
| institution | Kabale University |
| issn | 2504-4494 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Manufacturing and Materials Processing |
| spelling | doaj-art-cd2977be76e040d68586a47cffb7f84a2025-08-20T03:27:40ZengMDPI AGJournal of Manufacturing and Materials Processing2504-44942025-06-019619810.3390/jmmp9060198Research on Robot Cleaning Path Planning of Vertical Mixing Paddle SurfaceZhouzheng Shi0Leiyang Guo1Jingde Li2Ni Cao3Xiansheng Qin4Zhanxi Wang5School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaThe safe removal of residual flammable contaminants from vertical mixer blades is a crucial challenge in aerospace propellant production. While robotic cleaning has become the preferred solution due to its precision and operational safety, the complex helical geometry of mixer blades presents significant challenges for robotic systems, primarily in three aspects: (1) dynamic sub-region division, requiring simultaneous consideration of functional zones and residue distribution, (2) ensuring path continuity across surfaces with varying curvature, and (3) balancing time–energy efficiency in discontinuous cleaning sequences. To address these challenges, this paper proposes a novel robotic cleaning path planning method for complex curved surfaces. Firstly, we introduce a blade surface segmentation approach based on the k-means++ clustering algorithm, along with a sub-surface patch boundary determination method using parameterized curves, to achieve precise surface partitioning. Subsequently, robot cleaning paths are planned for each sub-surface according to cleaning requirements and tool constraints. Finally, with total cleaning time as the optimization objective, a genetic algorithm is employed to optimize the path combination across sub-facets. Extensive experimental results validate the effectiveness of the proposed method in robotic cleaning path planning.https://www.mdpi.com/2504-4494/9/6/198path planningrobotsurface cleaningsurface fragmentationpath combination |
| spellingShingle | Zhouzheng Shi Leiyang Guo Jingde Li Ni Cao Xiansheng Qin Zhanxi Wang Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface Journal of Manufacturing and Materials Processing path planning robot surface cleaning surface fragmentation path combination |
| title | Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface |
| title_full | Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface |
| title_fullStr | Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface |
| title_full_unstemmed | Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface |
| title_short | Research on Robot Cleaning Path Planning of Vertical Mixing Paddle Surface |
| title_sort | research on robot cleaning path planning of vertical mixing paddle surface |
| topic | path planning robot surface cleaning surface fragmentation path combination |
| url | https://www.mdpi.com/2504-4494/9/6/198 |
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