铣削移动工业机器人关节动态参数的自动识别

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

Cirp Annals-Manufacturing Technology Pub Date : 2025-01-01 DOI:10.1016/j.cirp.2025.04.073

J. Lee, A. Khishtan

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引用次数: 0

摘要

工业机器人因其自由度高、工作空间大，在机械加工中得到越来越多的应用；然而，其较低的结构刚度限制了加工精度。准确的动力学模型是提高加工性能的关键。提出了一种新的快速啁啾离心力激励方法，用于机器人运动过程中关节动态参数辨识。该方法有效地捕捉运动关节的摩擦行为，并适应沿刀具路径机器人配置的变化。实验结果表明，该动力学模型与所提出的识别方法相结合，能够准确预测铣削机器人颤振稳定性。

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Automated identification of joints dynamic parameters in moving industrial robots for milling applications

Industrial robots are increasingly used in machining due to their high degrees of freedom and large working space; however, their low structural rigidity limits machining precision. Accurate dynamic models are essential for improving machining performance. This study introduces a novel fast-chirp centrifugal force excitation approach for joints dynamic parameter identification during robot motion. The method effectively captures the in-motion joint’s frictional behavior and accommodates changes in robot configurations along the tool path. Experimental results demonstrate that the dynamic model, integrated with the proposed identification method, accurately predicts chatter stability in robotic milling operations.

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来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.