摘要
针对机器人铣削系统的刀尖动力学特性受机器人与主轴系统耦合作用影响,难以有效预测的问题,提出了考虑机器人-主轴系统耦合作用的刀尖频响函数预测方法。采用现场试验与理论分析相结合的方式构建了机器人末端刚度预测模型,揭示了机器人末端刚度随加工路径的变化规律,构建了末端刚度拟合函数。采用仿真软件构建了主轴系统有限元模型,制定了机器人与主轴系统耦合策略,提出了考虑结合面刚度特性的刀尖频响函数预测方法,构建了包含机器人刚度特性的刀尖频响函数预测模型。通过现场试验对模型有效性进行了验证,结果表明本模型对刀尖固有频率的预测误差为1.313%,频率幅值预测误差为0.502%,可用于机器人在不同位姿下刀尖固有频率的预测分析。研究了刀尖固有频率随机器人加工路径的变化规律,实现了特定加工路径下机器人铣削系统刀尖固有频率的有效预测。
The tool tip dynamic characteristics of the robotic milling system are affected by the coupling effect between the robot and spindle system,which makes it difficult to accurately predict the tool tip frequency response function.In order to solve the above problem,a tool tip frequency response function prediction method by considering the coupling effect of robot and spindle system was proposed.The prediction model of robot stiffness was constructed by combining field test and theoretical analysis.The variation law of robot stiffness with the change of machining path was studied,and the fitting function of robot stiffness was established.The finite element model of the spindle system was constructed by using simulation software,the coupling strategy between the robot and the spindle system was developed,and the tool tip frequency response function prediction method considering the stiffness characteristics of the joint surface was proposed.Then the tool tip frequency response function prediction model which including the robot stiffness characteristics was constructed.Field experiments were carried out to verify the validity of the model.The results show that the prediction error of the model is 1.313% for the main frequency of the tool tip and 0.502% for the amplitude of the main frequency,which can be used to predict the natural frequency of the tool tip under different robot poses.The change trend of the natural frequency of the tool tip with the change of the robot machining path was studied.The precision prediction of the natural frequency of the tool tip under a specific machining path was realized.
作者
韩启超
籍永建
徐小康
HAN Qichao;JI Yongjian;XU Xiaokang(Beijing Key Laboratory of Measurement&Control of Mechanical and Electrical System,Ministry of Education,Beijing Information Science and Technology University,Beijing 100192,China;School of Mechanical Electrical Engineering,Ministry of Education,Beijing Information Science and Technology University,Beijing 100192,China;Key Laboratory of Modern Measurement&Control Technology,Ministry of Education,Beijing Information Science and Technology University,Beijing 100192,China)
出处
《组合机床与自动化加工技术》
北大核心
2024年第7期57-63,共7页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(52105428)
北京市教育委员会科学研究计划项目(KM202111232006)
北京信息科技大学重点培育项目(2121YJPY203)
北京信息科技大学“勤信拔尖人才”培育计划项目(QXTCP B202401)。
关键词
工业机器人
频响函数
刚度
主轴系统
固有频率
industrial robots
frequency response function
stiffness
spindle system
natural frequency
