基于刚度定向的工业机器人铣削姿态优化研究

doi:10.3969/j.issn.1004-132X.2022.16.009

中国机械工程 ›› 2022, Vol. 33 ›› Issue (16): 1957-1964.DOI: 10.3969/j.issn.1004-132X.2022.16.009

基于刚度定向的工业机器人铣削姿态优化研究

杨靖1;张小俭1;吴毅1;叶松涛2;严思杰1，2;陆家麟3

1.华中科技大学机械科学与工程学院，武汉，430074
2.华中科技大学无锡研究院，无锡，214174
3.固瑞特模具(太仓)有限公司，苏州，215488

出版日期:2022-08-25 发布日期:2022-09-08
通讯作者: 张小俭（通信作者），男，1982年生，副教授。研究方向为数控加工过程动力学建模、过程稳定性分析和加工工艺参数优化。E-mail:xjzhang@hust.edu.cn。
作者简介:杨靖，男，1998年生，硕士研究生。研究方向为机器人铣削颤振稳定性分析以及抑制方法。
基金资助:
国家重点研发计划（2019YFA0706703）；国家自然科学基金（51775211）

Posture Optimization Based on Stiffness Orientation Method for Industrial Robotic Milling

YANG Jing1;ZHANG Xiaojian1;WU Yi1YE Songtao2;YAN Sijie1,2;LU Jialin3

1.School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,430074
2.Wuxi Research Institute of Huazhong University of Science and Technology,Wuxi,Jiangsu,214174
3.Gurit Mould(Taicang) Co.,Ltd.,Suzhou,Jiangsu,215488

Online:2022-08-25 Published:2022-09-08

摘要/Abstract

摘要： 针对工业机器人结构非对称引起的主刚度方向难以确定、因刚度低导致的铣削过程中容易发生模态耦合颤振的问题，提出了一种机器人加工系统主刚度定向方法，并利用机器人功能冗余特性优化姿态，以提高铣削过程的稳定性。计算工业机器人末端笛卡儿坐标系中的刚度椭球，确定切削平面内机器人的主刚度方向；通过建立加工系统的动力学模型，得到机器人铣削模态耦合颤振的稳定性判据；基于刚度定向方法，提出一种机器人铣削姿态优化算法。实验结果表明，在不改变其他参数的情况下，通过优化工业机器人姿态，可以保证机器人沿给定轨迹加工的稳定性。

关键词: 机器人铣削, 模态耦合颤振, 刚度定向, 姿态优化

Abstract: In order to solve the problems of the difficulty of determining the principal stiffness directions of industrial robots due to asymmetric structures and mode coupling chatters occurred in robotic milling processes caused by poor rigidity, a stiffness orientation method was proposed.Moreover, the stability of milling processes was improved by controlling the robot functional redundancy and optimizing the posture. Firstly, the stiffness ellipsoid in Cartesian coordinate system at the end of industrial robots was calculated to determine robotic principal stiffness directions in the cutting planes. Then, the stability criterion of mode coupling chatters was obtained by establishing the dynamics model of the machining system. Further, based on the stiffness orientation method, a posture optimization algorithm was proposed for robotic milling. Cutting experiments confirm that stability in robotic milling along the given trajectory may be guaranteed through the optimization of industrial robot configurations without changing other parameters.

Key words: robotic milling, mode coupling chatter, stiffness orientation, posture optimization

中图分类号:

TG54

杨靖, 张小俭, 吴毅, 叶松涛, 严思杰, 陆家麟. 基于刚度定向的工业机器人铣削姿态优化研究[J]. 中国机械工程, 2022, 33(16): 1957-1964.

YANG Jing, ZHANG Xiaojian, WU YiYE Songtao, YAN Sijie, LU Jialin. Posture Optimization Based on Stiffness Orientation Method for Industrial Robotic Milling[J]. China Mechanical Engineering, 2022, 33(16): 1957-1964.

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参考文献

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基于刚度定向的工业机器人铣削姿态优化研究

Posture Optimization Based on Stiffness Orientation Method for Industrial Robotic Milling

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