基于最大刚度原则的铣削机器人位姿确定方法

doi:10.3969/j.issn.1004-132X.2025.07.017

中国机械工程 ›› 2025, Vol. 36 ›› Issue (07): 1544-1552.DOI: 10.3969/j.issn.1004-132X.2025.07.017

基于最大刚度原则的铣削机器人位姿确定方法

宜亚丽^1,2*;程阳洋²;陈晓卫²;陈一凡²;张振东²;金贺荣^1,2

1.燕山大学起重机械关键技术全国重点实验室，秦皇岛，066004
2.燕山大学机械工程学院，秦皇岛，066004

出版日期:2025-07-25 发布日期:2025-09-03
作者简介:宜亚丽*，女，1976年生，副教授、博士研究生导师。研究方向为机器人加工技术、系统动力学。发表论文40余篇。E-mail:yiyali@ysu.edu.cn。
基金资助:
装备预先研究共用技术项目（920722MS）

A Determining Method for Milling Robot Poses Based on Principles of Maximum Stiffness

YI Yali^1,2*;CHENG Yangyang²;CHEN Xiaowei²;CHEN Yifan²;ZHANG Zhendong²;JIN Herong^1,2

1.State Key Laboratory of Crane Technology,Yanshan University,Qinhuangdao,Hebei,066004
2.School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei,066004

Online:2025-07-25 Published:2025-09-03

摘要/Abstract

摘要： 针对机器人弱刚度位姿下开槽铣削加工精度低的问题，提出一种基于最大刚度原则的机器人位姿确定方法。首先通过关节刚度辨识实验获取刚度；然后结合刚度定向评价指标分析工作平面刚度的分布，并基于刚度最大原则求解机器人最优铣削位姿；最后开展末端加载与铣削试验。研究结果表明，铣削高度1.6 m、1.2 m的最优姿态末端综合变形量最小值分别为92 μm和63 μm；位姿优化后，铣削振动幅值最大减小60.88%，最大壁厚误差仅40 μm。

关键词: 机器人铣削, 刚度, 加工精度, 冗余角

Abstract: To address the issues of low machining accuracy during slot milling in robot weak-stiffness poses, a robot pose determination method was proposed based on maximum stiffness principle. Firstly, the stiffness was obtained through joint stiffness identification experiments. Then, the stiffness distribution in working plane was analyzed by stiffness-oriented evaluation indices, and the optimal robot milling poses were solved based on the maximum stiffness principle. Finally, end-loading and milling tests were carried out. The results show that the minimum end-effector comprehensive deformations are as 92 μm and 63 μm at the milling heights of 1.6 m and 1.2 m respeclively. After pose optimization, the milling vibration amplitude is reduced by up to 60.88%, and the maximum wall thickness error is only 40 μm.

Key words: robot milling, stiffness, machining accuracy, redundant angle

中图分类号:

TP242.2

宜亚丽1, 2, 程阳洋2, 陈晓卫2, 陈一凡2, 张振东2, 金贺荣1, 2. 基于最大刚度原则的铣削机器人位姿确定方法[J]. 中国机械工程, 2025, 36(07): 1544-1552.

YI Yali1, 2, CHENG Yangyang2, CHEN Xiaowei2, CHEN Yifan2, ZHANG Zhendong2, JIN Herong1, 2. A Determining Method for Milling Robot Poses Based on Principles of Maximum Stiffness[J]. China Mechanical Engineering, 2025, 36(07): 1544-1552.

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https://www.cmemo.org.cn/CN/Y2025/V36/I07/1544

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基于最大刚度原则的铣削机器人位姿确定方法

A Determining Method for Milling Robot Poses Based on Principles of Maximum Stiffness

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