Abstract:Mobile manipulator has good mobility and flexibility,and has broad application prospects in the processing of large and complex parts.In order to make full use of machining ability of robot,a machining base position optimization method of 6-DOF mobile manipulator was proposed.The kinematic performance index and global stiffness index of the manipulator were established.On this basis,multiple constraints such as joint distance,joint velocity,singularity avoidance and collision avoidance of the 6-DOF manipulator were comprehensively considered.Sparse uniform grid decomposition was used to find the effective initial value of the optimization model,and the optimal position of the base was finally solved by sequential quadratic programming (SQP).Finally,the effectiveness of the optimization method and the correctness of the performance index were verified by the machining simulation analysis and experiments of fan blades.