在高维工作空间运行的铣削机器人的正则化自动频率响应函数采集

IF 4.4 2区 工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY
WenLong Luo, XiaoWei Tang, Tao Ma, QiuShuang Guo, YanYan Xu, Xing Yuan, Lei Zhang, XinYong Mao
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引用次数: 0

摘要

由于机器人铣削已成为加工重要大型零件的重要手段,因此获得铣削机器人的结构频率响应函数(FRF)是优化加工工艺的重要依据。然而,由于铣削机器人采用铰接式串行结构,其工作姿态数量庞大,动态特性受运动状态影响较大。为了准确获取铣削机器人工作状态下的 FRF,本文提出了一种基于结构修正概念的方法。与传统的激励方法不同,本文提出的方法采用机器人关节运动激励代替锤击激励,实现了自动化。针对运动激励带来的信息缺失导致 FRF 幅值不准确的问题,本文推导了基于结构修饰灵敏度的铣削机器人正则化理论,建立了模态正则化因子,并对 FRF 幅值进行了校准。与常用的人工锤击实验相比,所提出的方法在铣削机器人处于不同姿态时具有较高的精度和可靠性。由于测量可在工作状态下直接自动进行,且解决了振幅不准确的问题,因此所提出的方法为优化铣削机器人的加工姿态、提高加工效率提供了依据。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace

Because robotic milling has become an important means for machining significant large parts, obtaining the structural frequency response function (FRF) of a milling robot is an important basis for machining process optimization. However, because of its articulated serial structure, a milling robot has an enormous number of operating postures, and its dynamics are affected by the motion state. To accurately obtain the FRF in the operating state of a milling robot, this paper proposes a method based on the structural modification concept. Unlike the traditional excitation method, the proposed method uses robot joint motion excitation instead of hammering excitation to realize automation. To address the problem of the lack of information brought by motion excitation, which leads to inaccurate FRF amplitudes, this paper derives the milling robot regularization theory based on the sensitivity of structural modification, establishes the modal regularization factor, and calibrates the FRF amplitude. Compared to the commonly used manual hammering experiments, the proposed method has high accuracy and reliability when the milling robot is in different postures. Because the measurement can be performed directly and automatically in the operation state, and the problem of inaccurate amplitudes is solved, the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.

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来源期刊
Science China Technological Sciences
Science China Technological Sciences ENGINEERING, MULTIDISCIPLINARY-MATERIALS SCIENCE, MULTIDISCIPLINARY
CiteScore
8.40
自引率
10.90%
发文量
4380
审稿时长
3.3 months
期刊介绍: Science China Technological Sciences, an academic journal cosponsored by the Chinese Academy of Sciences and the National Natural Science Foundation of China, and published by Science China Press, is committed to publishing high-quality, original results in both basic and applied research. Science China Technological Sciences is published in both print and electronic forms. It is indexed by Science Citation Index. Categories of articles: Reviews summarize representative results and achievements in a particular topic or an area, comment on the current state of research, and advise on the research directions. The author’s own opinion and related discussion is requested. Research papers report on important original results in all areas of technological sciences. Brief reports present short reports in a timely manner of the latest important results.
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