包含机器人-主轴系统耦合效应的铣削颤振稳定性分析  

Robotic milling chatter stability analysis considering the coupling effects between the robot and spindle system

作　　者：籍永建 韩启超 徐小康 JI Yongjian;HAN Qichao;XU Xiaokang(Key Laboratory of Modern Measurement&Control Technology,Ministry of Education,Beijing Information Science&Technology University,Beijing 100192,China;Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System,Beijing Information Science&Technology University,Beijing 100192,China;College of Mechanical and Electrical Engineering,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学现代测控技术教育部重点实验室,北京100192 [2]北京信息科技大学机电系统测控北京市重点实验室,北京100192 [3]北京信息科技大学机电工程学院,北京100192

出　　处：《振动与冲击》2025年第6期13-27,共15页Journal of Vibration and Shock

基　　金：国家自然科学基金项目(52105428);北京市教育委员会科学研究计划项目资助(KM202111232006);北京信息科技大学“勤信拔尖人才”培育计划项目(QXTCP B202401);北京信息科技大学重点培育项目(2121YJPY203)。

摘　　要：串联式工业机器人(以下简称机器人)刚度低,铣削加工过程极易由于工艺参数或机器人位姿选取不当产生颤振,颤振会降低工件表面质量、损坏机器人装备。针对机器人铣削加工颤振稳定性预测问题,通过构建机器人刚度模型的方式研究了机器人末端刚度随空间位姿的变化规律;阐明了主轴系统速度效应对刀尖动力学特性的影响规律,采用数据拟合的方法建立了主轴转速与刀尖固有频率之间的映射函数;构建了综合考虑机器人-主轴系统耦合效应的铣削动力学模型,采用锤击试验方法获得机器人铣削系统刀尖的阻尼比与模态质量,得到了包含不同影响因素的机器人铣削加工稳定性叶瓣图,揭示了机器人-主轴系统耦合作用下铣削颤振稳定性的动态变化规律,进行了试验验证。结果表明,与现有模型相比,考虑机器人-主轴系统耦合效应构建的稳定性叶瓣图更加符合实际铣削状态,可有效提升机器人铣削颤振的预测准确率。Due to the low stiffness of serial industrial robots,the robotic milling process is prone to chatter due to the improper selection of processing parameters or robot pose,which will reduce the surface quality of the workpiece and damage the robot equipment.In order to predict the chatter stability of robotic milling,the variation of robot end stiffness along with the spatial pose was studied by constructing the stiffness model of the robot.The dynamic model of the spindle system was constructed,then the influence of the speed effect on the dynamic characteristics of the tool tip was studied,and the mapping function between the spindle speed and the natural frequency of the tool tip was constructed by data fitting method.A robotic milling dynamic model considering the coupling effects between the robot and spindle system was proposed.The damping ratio and modal mass at the tool tip of the robotic milling system were obtained by hammer experiments,and the stability lobe diagram of the robotic milling system considering different factors was obtained.The variation law of milling chatter stability under the coupling effects of the robot-spindle system was revealed and verified by experiments.The results show that the stability lobe diagram obtained when considering the robot-spindle system coupling effects is more consistent with the actual milling state,which can effectively improve the prediction accuracy of robotic milling chatter stability.

关 键 词：机器人铣削 铣削动力学 颤振 耦合效应 稳定性分析 

分 类 号：TH113[机械工程—机械设计及理论]