Vibration Reduction in Robotic Milling Through Spindle Speed Modulation

Dominic Huschke, S. Melkote
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Abstract

A simple strategy for the reduction of vibrations during robotic milling is proposed. Here, the vibrations are reduced through a sinusoidal variation of the spindle speed as has been done in machine tools. Experimental results show a significant reduction in the measured forces. Furthermore, an improvement of the generated surfaces through modulation of the spindle speed is observed. Based on the experimental results, a simple empirically-based control strategy for the on-line detection and reduction of vibrations through spindle speed modulation is implemented. On-line detection of vibrations is achieved through comparison of the measured and the expected forces, which are calculated using a mechanistic milling force model.
通过主轴调速降低铣削机器人的振动
提出了一种减少机器人铣削振动的简单策略。在这里,振动通过主轴转速的正弦变化来减少,正如在机床中所做的那样。实验结果表明,测得的力显著减小。此外,通过调制主轴转速,观察到产生的表面的改善。在实验结果的基础上,实现了一种简单的基于经验的控制策略,用于通过主轴转速调制在线检测和减少振动。振动在线检测是通过测量力和期望力的比较来实现的,这是用机械铣削力模型计算的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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