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
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