摘要
为了优化机器人螺旋铣制孔过程中末端执行器的压脚压紧力取值,提高末端执行器与工件的接触刚度,消除压紧力取值对加工孔的孔径精度、表面粗糙度、孔位偏差等的影响,采用解析法确定压紧力取值的许用范围.通过建立螺旋铣制孔过程有限元仿真模型,研究许用范围内不同压紧力对加工孔质量的影响,给出压脚压紧力的最优值.通过制孔实验对比分析不同压紧力下的加工孔质量,实验结果表明,在优化后的压脚压紧力作用下,加工孔的圆柱度可以有效控制在0.013mm以内,孔的内壁表面粗糙度可以提升至1.6μm以内.
The internal stress of workpiece was analytically calculated during the robotic orbital drilling in order to optimize the pressure-force of press-foot to improve the contact stiffness between the end effector and workpiece,and eliminate the effects of it on the aperture precision,surface roughness and deviation of hole position.The range of allowable pressure-force was derived.Then the simplified finite element model of orbital drilling was established to compare how the different pressure-force affects the holes＇ quality,and the optimum pressure-force was concluded.The quality of each hole drilled under different pressureforce was compared in orbital drilling experiment.Results showed that hole cylindricity was successfully controlled within 0.013 mm and hole surface roughness was controlled within 1.6μm after pressure-force optimization.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2016年第1期102-110,172,共10页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(51275463
51205352)
关键词
螺旋铣
压脚装置
末端执行器
压紧力
有限元分析(FEA)
orbital drilling
press-foot device
end effector
pressure-force
finite element analysis（FEA）
