Stability analysis of robotic longitudinal-torsional composite ultrasonic milling  

作　　者：Lianjun SUN Wenhe LIAO Kan ZHENG Wei TIAN Jinshan LIU Jindan FENG 

机构地区：[1]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China [2]College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [3]China Academy of Space Technology,Beijing 100094,China

出　　处：《Chinese Journal of Aeronautics》2022年第8期249-264,共16页中国航空学报（英文版）

基　　金：co-supported by the National Natural Science Foundation of China(Nos.91860132,51861145405,52075265)。

摘　　要：Currently,industrial robots are considered as an alternative towards traditional machine tools.Especially for the large-scale parts milling,robotic flexibility and low cost make it possess the irreplaceability.However,the milling chatter caused by its weak rigidity hampers robotic application and promotion severely in aviation industry.Rotary ultrasonic milling(RUM)technology with one-dimensional axial vibration has been proven and approved on avoiding robotic chatter.Based on this,the research of project team demonstrates that longitudinal-torsional composite ultrasonic milling(CUM-LT)involving separation characteristic has a greater advantage than RUM in terms of chatter suppression.Thereby,the CUM-LT as a new means is applied to avoid processing vibration of robotic milling system.And its influence mechanism on stability improvement of weak stiffness processing system is clarified.Meanwhile,the approaches to strengthen separation effect are provided innovatively.Moreover,a new analysis method of robotic CUM-LT(RCUM-LT)stability is proposed on the basis of ultrasonic function angles.The simulation and experimental results indicate that compared with robotic RUM(RRUM),stability regions of separated RCUM-LT(SRCUM-LT)and unseparated RCUM-LT(URCUM-LT)are improved by 124.42%and39.20%,respectively.The addition of torsional ultrasonic energy has a wonderful effect on the milling chatter suppression of low stiffness robots.

关 键 词：Chatter suppression Industrial robots Longitudinal-torsional composite Rotary ultrasonic milling Stability analysis 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TG54[自动化与计算机技术—控制科学与工程]