考虑主轴-刀柄结合面特性的机器人铣削系统刀尖频响预测研究

doi:10.3969/j.issn.1004-132X.2023.01.001

中国机械工程 ›› 2023, Vol. 34 ›› Issue (01): 2-9.DOI: 10.3969/j.issn.1004-132X.2023.01.001

考虑主轴-刀柄结合面特性的机器人铣削系统刀尖频响预测研究

梁志强1;石贵红1;杜宇超1;叶玉玲2;籍永建3;陈司晨1;仇天阳1;刘志兵1;周天丰1;王西彬1

1.北京理工大学先进加工技术国防重点学科实验室,北京,100081
2.北京神工科技有限公司,北京,100013
3.北京信息科技大学机电系统测控北京市重点实验室,北京,100192

出版日期:2023-01-10 发布日期:2023-02-01
作者简介:梁志强，男，1984 年生，教授、博士研究生导师。研究方向为先进切削磨削抛光技术、微细加工、微细刀具设计与制造、超声加工、特种机床与装备制造技术。 E-mail：liangzhiqiang@bit.edu.cn。
基金资助:
国家重点研发计划(2019YFB1311100);国家自然科学基金(51975053)

Research on Tool Tip Frequency Response Prediction of Robot Milling Systems Considering Characteristics of Spindle-toolholder Interface

LIANG Zhiqiang1;SHI Guihong1;DU Yuchao1;YE Yuling2;JI Yongjian3;CHEN Sichen1;QIU Tianyang1;LIU Zhibing1;ZHOU Tianfeng1;WANG Xibin1

1.Key Laboratory of Fundamental Science for Advanced Machining,Beijing Institute of Technology,Beijing,100081
2.Beijing Scienkong Technology Co.,Ltd.,Beijing,100013
3.Beijing Key Laboratory of Measurement & Control of Mechanical and Electrical System Technology,Beijing Information Science and Technology University,Beijing,100192

Online:2023-01-10 Published:2023-02-01

摘要/Abstract

摘要： 针对机器人铣削系统刀尖频响具有位姿依赖特性，导致机器人变位姿加工时稳定性难以准确预测、加工颤振难以有效控制的问题，提出一种考虑主轴刀柄结合面接触刚度的机器人铣削系统刀尖频响预测方法。基于欧拉拉格朗日法与吉村允孝单位面积法，分别构建了机器人本体动力学模型与主轴刀柄结合面接触刚度模型，进而基于有限元主副自由度理论将机器人本体动力学模型与主轴刀柄结合面接触刚度模型结合，构建了机器人铣削加工系统刀尖频响预测模型。开展了机器人不同位姿下刀尖频响预测验证实验，结果表明，仿真与实验得到的刀尖频响函数相比，固有频率最大误差为6.63%，对应幅值最大误差为9.80%，验证了所提出的预测模型的准确性，证明了该模型能够实现机器人任意位姿下的频响函数准确预测。

关键词: 机器人铣削, 频响函数, 动力学建模, 结合面接触刚度

Abstract: Aiming at the problems that the tool tip frequency response of robot milling systems was posture-dependent, which made it difficult to accurately predict the stability and effectively control the machining chatters in the process of robot pose changing, a prediction method of the tool tip frequency response of robot milling systems was proposed considering the contact stiffness of spindle-toolholder interface. Based on Euler-Lagrangian method and unit area method of Yoshimura, the dynamics model of robot body and the contact stiffness model of spindle-toolholder interface were constructed, respectively. Then, based on the theory of the main and auxiliary degrees of freedom of finite element, the dynamics model of robot body and the contact stiffness model of spindle-toolholder interface were combined to construct the prediction model of tool tip frequency response of robot milling systems. The verification test of tool-tip frequency response prediction under different postures of the robot was carried out. The results show that the maximum error of the natural frequency is as 6.63% and the maximum error of the corresponding amplitude is as 9.80% compared with the frequency response function of tool-tip obtained by simulations and experiments, which verifies the accuracy of the proposed prediction model and proves that the model may realize accurate prediction of frequency response function under any postures of the robot.

Key words: robot milling, frequency response function, dynamics modeling, interface contact stiffness

中图分类号:

TG54

梁志强, 石贵红, 杜宇超, 叶玉玲, 籍永建, 陈司晨, 仇天阳, 刘志兵, 周天丰, 王西彬. 考虑主轴-刀柄结合面特性的机器人铣削系统刀尖频响预测研究[J]. 中国机械工程, 2023, 34(01): 2-9.

LIANG Zhiqiang, SHI Guihong, DU Yuchao, YE Yuling, JI Yongjian, CHEN Sichen, QIU Tianyang, LIU Zhibing, ZHOU Tianfeng, WANG Xibin. Research on Tool Tip Frequency Response Prediction of Robot Milling Systems Considering Characteristics of Spindle-toolholder Interface[J]. China Mechanical Engineering, 2023, 34(01): 2-9.

参考文献

［1］YUAN Lei, PAN Zengxi, DING Donghong, et al. A Review on Chatter in Robotic Machining Process Regarding both Regenerative and Mode Coupling Mechanism［J］. IEEE/ASME Transactions on Mechatronics, 2018, 23(5):2240-2251.
［2］HCELIKAG H, OZTURK E, SIMS N D. Can Mode Coupling Chatter Happen in Milling?［J］. International Journal of Machine Tools and Manufacture, 2021, 165:103738.
［3］李宇庭. 机器人多轴铣削刀尖频响快速预测及颤振稳定性分析［D］.武汉：华中科技大学,2018.
LI Yuting. Rapid Dynamics Prediction of Tool Tip and Analysis of the Chatter Stability in Robotic Milling System［D］.Wuhan:Huazhong University of Science and Technology,2018.
［4］CHEN Chen,PENG Fangyu, YAN Rong, et al. Posture-dependent Stability Prediction of a Milling Industrial Robot Based on Inverse Distance Weighted Method［J］. Procedia Manufacturing, 2018,17:993-1000.
［5］CHEN Chen, PENG Fangyu, YAN Rong, et al. Rapid Prediction of Posture-dependent FRF of the Tool Tip in Robotic Milling［J］. Robotics and Computer-Integrated Manufacturing, 2020, 64(9/12):101906.
［6］祁斌. 基于 RCSA 的主轴刀具系统刀尖点频响函数预测［D］. 大连:大连理工大学, 2016.
QI Bin. Tool Point Frequency Response Function Prediction Based on RCSA in Spindle Tool System［D］. Dalian:Dalian University of Technology,2016.
［7］BRECHER C, ALTSTDTER H, DANIELS M. Axis Position Dependent Dynamics of Multi-axis Milling Machines［J］. Procedia CIRP, 2015, 31:508-514.
［8］BRECHER C, FEY M, TENBROCK C, et al. Multi-point Constraints for Modeling of Machine Tool Dynamics［J］. Journal of Manufacturing Science & Engineering, 2016, 138(5):051006.
［9］SCHMITZ T L, DONALSON R R. Predicting High-speed Machining Dynamics by Substructure Analysis［J］. CIRP Annals—Manufacturing Technology, 2000, 49(1):303-308.
［10］张云飞，郝小忠，陈耿祥，等. 基于KNN的机床刀尖点频响函数预测［J］.航空制造技术, 2020,63(10):80-88.
ZHANG Yunfei, HAO Xiaozhong, CHEN Geng-xiang. KNN-based Tool Tip Frequency Response Function Prediction Method［J］. Aeronautical Manufacturing Technology, 2020,63(10):80-88.
［11］LAW M, PHANI A S, ALTINTAS Y. Position-dependent Multibody Dynamic Modeling of Machine Tools Based on Improved Reduced Order Models［J］.Journal of Manufacturing Science & Engineering, 2013, 135(2):2186-2199.
［12］MOUSAVI S, GAGNOL V, BELHASSEN C, et al. Stability Optimization in Robotic Milling through the Control of Functional Redundancies［J］. Robotics and Computer Integrated Manufacturing, 2018,50:181-192.
［13］MOUSAVI S, GAGNOL V, BELHASSEN C, et al. Dynamic Modeling and Stability Prediction in Robotic Machining［J］. The International Journal of Advanced Manufacturing Technology,2017,88(9/12):3053-3065.
［14］MOHAMMADI Y, AHMADI K. Effect of Axial Vibrations on Regenerative Chatter in Robotic Milling［J］. Procedia CIRP, 2019,82:503-508.
［15］PAN Zengxi,ZHANG Hui, ZHU Zhenqi, et al. Chatter Analysis of Robotic Machining Process［J］. Journal of Materials Processing Technology,2006,173(3):301-309.
［16］ALTINTAS Y, CAO Y Z. Virtual Design and Optimization of Machine Tool Spindles［J］. CIRP Annals—Manufacturing Technology, 2005, 54(1):379-382.
［17］赵万华,杜超,张俊,等. 主轴转子系统动力学解析建模方法［J］.机械工程学报,2013,49(6):44-51.
ZHAO Wanhua， DU Chao，ZHANG Jun，et al. Analytical Modeling Method of Dynamics for the Spindle Rotor System［J］. Journal of Mechanical Engineering, 2013,49(6):44-51.
［18］SPONG M W, HUTCHINSON S, VIDYASAGAR M. 机器人建模和控制［M］. 贾振中，译. 北京：机械工业出版社, 2016:65-148.
SPONGM W, HUTCHINSON S, VIDYASAGAR M. Robot Modeling and Control［M］. JIA Zhenzhong, trans. Beijing： China Machine Press,2016:65-148.
［19］陈玉山. 6R型工业机器人关节刚度辨识与实验研究［D］.武汉：华中科技大学,2011.
CHEN Yushan. Joint Stiffness Identification of 6R Industrial Robot and Experimental Verification［D］. Wuhan:Huazhong University of Science and Technology,2011.
［20］HEYLEN W, LAMMENS S, SAS P,等. 模态分析理论与实验［M］. 白化同，郭继忠，译. 北京:北京理工大学出版社, 2001:16-20.
HEYLEN W, LAMMENS S, SAS P, et al. Modal Analysis Theory and Testing［M］. BAI Huatong, GUO Jizhong, trans. Beijing:Beijing Institute of Technology Press,2001:16-20.
［21］姜彦翠,刘献礼,吴石,等.考虑结合面和轴向力的主轴系统动力学特性［J］.机械工程学报,2015,51(19):66-74.
JIANG Yancui, LIU Xianli, WU Shi, et al. Dynamics Characteristics of the Spindle System with the Interface and Axial Milling Force［J］.Journal of Mechanical Engineering, 2015,51(19):66-74.
［22］张学良. 机械结合面动态特性及应用［M］. 北京：中国科学技术出版社, 2002:55-63.
ZHANG Xueliang. Dynamic Characteristics and Application of Mechanical Joint［M］. Beijing：Science and Technology of China press, 2002:55-63.
［23］吴鸿庆, 任侠. 结构有限元分析［M］. 北京：中国铁道出版社, 2000:187-189.
WU Hongqing, REN Xia. Finite Element Analysis of Structure［M］. Beijing： China Railway Publishing House,2000:187-189.
［24］罗虹, 李军, 曹友强,等. 有限元模型动力缩聚中主副自由度选取方法［J］. 机械设计, 2010,27(12):11-14.
LUO Hong, LI Jun, CAO Youqiang，et al. Selection Method of Main and Auxiliary Degrees of Freedom in Dynamic Condensation of Finite Element Model［J］. Journal of Machine Design, 2010,27(12):11-14.

[1]	籍永建, 姚利诚, . 机器人铣削加工颤振自适应识别方法研究[J]. 中国机械工程, 2023, 34(18): 2165-2176.
[2]	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.
[3]	王龙凯, 王艾伦, 尹伊君, 金淼, 衡星. 航空涡轮轴发动机复杂转子的动力学建模方法[J]. 中国机械工程, 2022, 33(13): 1513-1520.
[4]	王尧1;张铁锋2;施韦伊2;付庄1;陈光彪1. 杆件与倾斜平面弹塑性接触冲击动力学建模与分析[J]. 中国机械工程, 2020, 31(11): 1261-1269.
[5]	秦基伟1，2，3;常勇1，2;袁兵兵1，2，3;付兴伟4;王天龙1，2. 一种滚动密封式爬壁机器人动力学建模与分析[J]. 中国机械工程, 2019, 30(24): 2978-2985.
[6]	么宇辉1;丁亮2;王箫剑1;李志深1;李鸿光1. 冷水机组机架减振效果分析[J]. 中国机械工程, 2019, 30(16): 1891-1895.
[7]	闫少文;屈文忠;肖黎. 一种基于高频频响函数的无基准疲劳裂纹识别方法[J]. 中国机械工程, 2019, 30(12): 1428-1432,1479.
[8]	余联庆1;王占坤1;李红军1;蒙运红2. 冗余驱动闭链弓形五连杆动力学建模与优化[J]. 中国机械工程, 2019, 30(08): 954-960.
[9]	畅博彦1，2;李文启1;金国光1，2;宋艳艳1. 精确直线可展机构及其动力学分析[J]. 中国机械工程, 2018, 29(11): 1303-1309,1315.
[10]	朱坚民;李尧;何丹丹;田丰庆;李孝茹. 一种新的铣刀刀齿等效直径确定方法[J]. 中国机械工程, 2018, 29(05): 558-564.
[11]	朱坚民;何丹丹. 于频响函数分析的主轴-刀柄-刀具结合面轴向分布参数辨识[J]. 中国机械工程, 2017, 28(16): 1891-1898.
[12]	朱坚民, 何丹丹, 田丰庆, 赵全龙. 一种新的预测铣刀刀尖频响函数的方法[J]. 中国机械工程, 2016, 27(20): 2765-2773.
[13]	谷勇霞, 张玉玲, 赵杰亮, 阎绍泽. 漂浮基空间机械臂动力学问题研究进展[J]. 中国机械工程, 2016, 27(15): 2118-2129.
[14]	谷勇霞, 张玉玲, 赵杰亮, 阎绍泽. 柔性机械臂动力学建模理论与实验研究进展[J]. 中国机械工程, 2016, 27(12): 1694-1703.
[15]	彭春江, 胡燕平, 程军圣, 沈意平. 海上浮式风电机组刚柔耦合结构动力学建模与分析[J]. 中国机械工程, 2016, 27(04): 461-468.

考虑主轴-刀柄结合面特性的机器人铣削系统刀尖频响预测研究

Research on Tool Tip Frequency Response Prediction of Robot Milling Systems Considering Characteristics of Spindle-toolholder Interface

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics