气囊抛光机器人动态特性分析及优化研究  

Research on Dynamic Characteristics Analysis and Optimization of Bonnet Polishing Robot

作　　者：周勇宇 姜晨[1] 姜臻禹 焦培俊 ZHOU Yongyu;JIANG Chen;JIANG Zhenyu;JIAO Peijun(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《机械与电子》2024年第10期61-68,共8页Machinery & Electronics

基　　金：国家自然科学基金面上项目(51475310)。

摘　　要：针对因机器人加工系统振动而影响抛光质量的问题,开展气囊抛光机器人动态特性分析及优化研究。以ABB IRB2600机器人为研究对象,进行模态实验和工况下系统振动特性分析,分析表明系统在工况频带内存在5阶模态,且振动主要发生在11~13 Hz、17~21 Hz、27~28 Hz内,气囊抛光工艺受到严重限制;同时,基于金属橡胶减振技术优化机器人气囊抛光系统动态特性,并进行振动特性和光学元件抛光验证实验。实验结果表明:相对于减振前,减振后的系统振动强度平均减小26.83%;定点抛光中,减振后抛光得到表面粗糙度Ra平均降低17.47%;整面抛光中,减振后抛光得到的整面面型Ra、PSD和PV值分别下降20.18%、44.83%和20.24%,系统优化效果显著,进一步提高了光学元件表面质量。Aiming at the problem that the polishing quality is affected by the vibration of the robot processing system,the vibration characteristics analysis and optimization research of the bonnet polishing robot are carried out.Taking the ABB IRB2600 robot as the research object,the modal experiment and the vibration characteristics of the system under working conditions are analyzed.The analysis shows that there are 5 order modes in the working frequency band of the system,and the vibration mainly occurs in 11~13 Hz,17~21 Hz and 27~28 Hz.The bonnet polishing process is severely limited.At the same time,the dynamic characteristics of the robot bonnet polishing system are optimized based on the metal rubber vibration reduction technology,and the vibration characteristics and polishing effect verification experiments are carried out.The experimental results show that the vibration intensity of the system after vibration reduction is reduced by 26.83%on average compared with that before vibration reduction.In fixed point polishing,the surface roughness is reduced by 17.47%on average after vibration reduction.In the whole surface polishing,the Ra,PSD and PV values of the whole surface obtained by polishing after vibration reduction decrease by 20.18%,44.83%and 20.24%respectively.The system optimization effect is remarkable,and the surface quality of the optical element is further improved.

关 键 词：气囊抛光 机器人 动态特性 金属橡胶 光学元件 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]