机器人磨削工艺参数对系统固有频率影响的试验研究

Experimental Study on the Influence of Robot Grinding Parameters on System Natural Frequency

针对机器人刚性差造成的磨削振动工作模态参数难以预测的问题,建立工艺参数与系统固有频率的关系模型。在简化机器人磨削系统的基础上,提出磨削接触刚度的测量方法。运用摄动法求解振动矩阵方程,将工艺参数与工作模态以磨削接触刚度为纽带联系起来。应用机器人-砂带机磨削平台进行试验验证,改变不同工艺参数测量工作模态,与计算值进行对比,证明数学模型的准确性,并进一步得到不同磨削工艺参数对接触刚度、系统固有频率的影响规律。研究结果为避免或抑制机器人-砂带机磨削系统产生磨削振动以及磨削工艺参数优化提供了参考。

Aiming at the problem that the working mode parameters of grinding vibration caused by poor robot rigidity are hard to predict,the relationship model between process parameters and the natural frequency of the system was established.Based on the simplified robot grinding system,the measurement method of grinding contact stiffness was proposed.The vibration matrix equation was solved by using perturbation method and the process parameters were linked with the working mode through grinding contact stiffness.The robot grinding platform of belt grinding machine was used for experimental verification,and the working modes were measured with different process parameters,the accuracy of the mathematical model was verified by compared the measured values with the calculated values,and the influence rules of different grinding process parameters on contact rigidity and system natural frequency were further obtained.The research results provide reference for the subsequent research on avoiding or suppressing the grinding vibration generated by the robotic belt grinding system as well as the optimization of grinding process parameters.