Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace  

作　　者：LUO WenLong TANG XiaoWei MA Tao GUO QiuShuang XU YanYan YUAN Xing ZHANG Lei MAO XinYong 

机构地区：[1]School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,430074,China [2]State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System,Baotou,014030,China [3]Wuhan Heavy Duty Machine Tool Group Corporation,Wuhan,430205,China

出　　处：《Science China(Technological Sciences)》2024年第6期1783-1797,共15页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.52175463);Key R&D plan of Hubei Province(Grant No.2022BAA055);State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System(Grant No.GZ2022KF008)。

摘　　要：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.

关 键 词：milling robot structural dynamics frequency response function automatic identification modal regularization factor high-dimensional workspace 

分 类 号：TG54[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]