基于刀-工接触区解析式的机器人铣削系统铣削力预测  

Milling Force Prediction of Robot Milling System Based on Analytical Expression of Cutter-Workpiece Contact Zone

作　　者：高志成 付中涛 乐恒韬 陈绪兵[1] GAO Zhi-cheng;FU Zhong-tao;YUE Heng-tao;CHEN Xu-bing(School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205 China)

机构地区：[1]武汉工程大学机电工程学院,湖北武汉430205

出　　处：《自动化技术与应用》2025年第3期122-126,184,共6页Techniques of Automation and Applications

基　　金：国家自然科学基金资助项目(51805380,51875415);数字制造装备与技术国家重点实验室开放基金(DMETKF2022019);湖北省中央引导地方科技发展专项(2019ZYYD010)。

摘　　要：在机器人铣削加工过程中,由于复杂的工件几何表面以及机器人位姿的变化,导致刀具-工件的接触区不断变化,从而影响铣削力的大小。因此,提出一种机器人铣削系统铣削力预测方法。通过定义机器人铣削系统的瞬时刀具坐标系和瞬时进给坐标系,参数化描述球头铣刀切削刃位置以及与待加工工件之间的位姿关系,建立接触区域模型来判断切削刃的状态,进而建立机器人铣削力的预测模型。最后,通过将模型预测结果与实验结果对比,铣削力预测误差在15%以内,验证了所提出方法的有效性。In the process of robot milling,due to the complex geometry of the workpiece and the variation of robot poses,the cutter-workpiece contact zone is constantly changing,which affects the milling force values.Therefore,This work presents a milling force prediction method for robot milling system,in which the ball-end cutter is taken as an example,and the cutter-workpiece contact zone is modeled by analytical method.By defining the instantaneous cutter coordinate system and the instantaneous feed,parametric description of cutting edge location for ball-end cutter and the relative position of relationship between unmachined workpiece,establishing the model of contact area judge state of cutting edges,robotic milling force prediction model is established,through the simulation results compared with the experimental results,which demonstrate the effectiveness of this method.

关 键 词：机器人铣削 刀工接触区 球头铣刀 铣削力模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]