Optimization of Redundant Degrees of Freedom in Robotic Flat-End Milling Based on Dynamic Response

被引:1
|
作者
Liu, Jinyu [1 ]
Zhao, Yiyang [1 ]
Niu, Yuqin [2 ]
Cao, Jiabin [1 ]
Zhang, Lin [1 ]
Zhao, Yanzheng [1 ]
机构
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
[2] Donghua Univ, Sch Mech Engn, Shanghai 201620, Peoples R China
来源
APPLIED SCIENCES-BASEL | 2024年 / 14卷 / 05期
基金
中国博士后科学基金;
关键词
industrial robot; robotic milling; dynamic response index; chatter stability; redundant degrees of freedom; STABILITY; POSTURE; CHATTER; COMPENSATION; PREDICTION; LOCATION; ERROR;
D O I
10.3390/app14051877
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
With the advantages of large working space, low cost and more flexibility, industrial robots have become an important carrier in intelligent manufacturing. Due to the low rigidity of robotic milling systems, cutting vibrations are inevitable and have a significant impact on surface quality and machining accuracy. To improve the machining performance of the robot, a posture optimization approach based on the dynamic response index is proposed, which combines posture-dependent dynamic characteristics with surface quality for robotic milling. First, modal tests are conducted at sampled points to estimate the posture-dependent dynamic parameters of the robotic milling system. The modal parameters at the unsampled points are further predicted using the inverse distance weighted method. By combining posture-independent modal parameters with calibrating the cutting forces, a dynamic model of a robotic milling system is established and solved with a semi-discretization method. A dynamic response index is then introduced, calculated based on the extraction of the vibration signal peaks. The optimization model is validated through milling experiments, demonstrating that optimizing redundant angles significantly enhances milling stability and quality.
引用
收藏
页数:21
相关论文
共 50 条
  • [31] Tool trajectory generation based on tool deflection effects in flat-end milling process (I) - Tool path compensation strategy
    Seo, TI
    Cho, MW
    KSME INTERNATIONAL JOURNAL, 1999, 13 (10): : 738 - 751
  • [32] Identification of static surface form errors from cutting force distribution in flat-end milling processes
    Mehmet Aydın
    Mehmet Uçar
    Abdulkadir Cengiz
    Mustafa Kurt
    Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2015, 37 : 1001 - 1013
  • [33] High-adaptable prediction method of flat-end milling force based on material properties for difficult-to-machine materials
    Jian-wei Ma
    Zhen-yuan Jia
    De-ning Song
    Wei-wei Su
    Guo-qing Hu
    Li-kun Si
    The International Journal of Advanced Manufacturing Technology, 2017, 92 : 1493 - 1506
  • [34] Identification of static surface form errors from cutting force distribution in flat-end milling processes
    Aydin, Mehmet
    Ucar, Mehmet
    Cengiz, Abdulkadir
    Kurt, Mustafa
    JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING, 2015, 37 (03) : 1001 - 1013
  • [35] Tool path generation via the multi-criteria optimisation for flat-end milling of sculptured surfaces
    Lu, YaoAn
    Ding, Ye
    Zhu, LiMin
    INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, 2017, 55 (15) : 4261 - 4282
  • [36] Tool trajectory generation based on tool deflection effects in flat-end milling process(I)—Tool path compensation strategy—
    Tae-Il Seo
    Myeong-Woo Cho
    KSME International Journal, 1999, 13 : 738 - 751
  • [37] Kinematic and dynamic modelling of a four degrees of freedom link-based robotic arm
    Quiza, Ramon
    Perez Sosa, Teresa
    Fagundo Mesa, Renier
    REVISTA CUBANA DE INGENIERIA, 2021, 12 (04):
  • [38] An efficient analytical model for the swept volume generation of a flat-end mill in 5-axis CNC milling
    Dogrusadik, Ahmet
    COMPUTER AIDED GEOMETRIC DESIGN, 2023, 106
  • [39] Tool trajectory generation based on tool deflection effects in the flat-end milling process (II) —Prediction and compensation of milled surface errors—
    Tae-Il Seo
    Myeong-Woo Cho
    KSME International Journal, 1999, 13 : 918 - 930
  • [40] A study of computing accuracy of calibrating cutting force coefficients and run-out parameters in flat-end milling
    Zhang, Dongliang
    Mo, Rong
    Chang, Zhingyong
    Sun, Huibin
    Li, Chunlei
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2016, 84 (1-4): : 621 - 630