基于双混联机器人协同运动控制的薄壁件镜像铣削研究

Research on Mirror Milling of Thin-Walled Parts Based on Collaborative Motion Control of Dual Hybrid Robots

为提高薄壁件镜像铣削过程中的加工质量,本文提出一种针对双混联机器人镜像铣削的协同运动控制策略。首先,结合机器人运动控制特点,研发出一种双CPU主从控制架构的开放式数控系统,以实现人机交互和运动控制;然后,为实现双机协同运动并提高薄壁件加工质量,在数控系统中集成了4大关键技术,分别是双机器人的镜像路径生成、同步速度规划、协同运动学和运动误差实时补偿;最后,基于自主开发的集成式镜像铣削数控系统,开展了单点和多点支撑、双机协同与非协同加工的平面薄壁件槽铣削试验,多点支撑的平面铣削试验,大曲率路径高速协同运动试验与曲面薄壁件槽铣削加工试验。试验结果表明,提出的协同运动控制策略能够保证双机器人具有较高的同步位置精度。此外,多点支撑方式在保证薄壁件铣削壁厚的同时,还可提高工件铣削的颤振稳定性。

To improve the machining quality of mirror milling of thin-walled parts,this paper proposes a collaborative motion control strategy for mirror milling of dual hybrid robots.Firstly,based on the characteristics of robot motion control,an open CNC system with a dual CPU master-slave control architecture is developed to achieve human-computer interaction and motion control.Then,in order to achieve dual robots collaborative motion and improve the machining quality of thin-walled parts,four key technologies are integrated into the CNC system,namely mirror path generation of dual robots,synchronous speed planning,collaborative kinematics,and real-time compensation of motion errors.Finally,based on the independently developed integrated mirror milling CNC system,flat thin-walled part slot milling experiments with single and multi-point support,dual robots collaborative and non collaborative machining,multipoint support surface milling experiments,high curvature path high-speed collaborative motion experiments,and curved thin-walled part slot milling experiments are carried out.The experimental results show that the proposed collaborative motion control strategy can ensure high synchronization position accuracy of the dual robots.In addition,the multi-point support method can improve the vibration stability of workpiece milling while ensuring the wall thickness of thin-walled parts.