制孔机器人在制孔过程中的振动抑制研究

Vibration suppression of hole making robot in process of making holes

针对制孔机器人在制孔过程中的振动抑制问题,对典型的双关节制孔机器进行了研究,仅考虑进给方向钻削力对制孔机器人系统的影响,分析了制孔过程中振动产生的机理,提出了模糊补偿抑振的控制算法。根据拉格朗日方程建立了制孔机器人的动力学模型,再结合根据斜角切削理论建立的钻削力模型,当制孔机器人处于某一特定位姿下时,借助Matlab/Simulink平台进行了仿真。利用模糊控制器将制孔机器人末端执行器在轴向钻削力的作用下即将产生的动态变化量提前补偿给各个关节之后,各个关节在制孔过程中的偏转量明显减弱。研究结果表明,模糊补偿的抑振算法能增强制孔机器人系统的刚度,进一步保证孔的质量。

Aiming at the problem of vibration suppression of the hole making robot in the process of making holes, a typical example of a two-joint hole drilling robot to study the control algorithm was took. The effect of the feed direction drilling force on the system of the hole making robot was only considered. The mechanism of vibration in the process of making holes was analyzed. Finally the fuzzy compensation inhibit vibration control algorithm was put forwarded. According to the Lagrange equation, the dynamic model of the hole robot was established, and the drilling force model was established according to the theory of oblique cutting model. Then the simulation was carried out by the Matlab/Simulink platform under a particular position. After a fuzzy controller was used to compensate the dynamic change of the end effector of the hole making robot in the process of the axial drilling force to each joint in advance, the deflection of each joint in the hole making process was obviously weakened. The results indicate that the stiffness of the system can be enhanced by adding the vibration suppression algorithm with fuzzy compensation, which further ensures the quality of the hole.