机器人纵振与纵扭超声铣削稳定性对比研究

doi:10.3901/JME.2021.07.010

机械工程学报 ›› 2021, Vol. 57 ›› Issue (7): 10-17.doi: 10.3901/JME.2021.07.010

扫码分享

机器人纵振与纵扭超声铣削稳定性对比研究

郑侃¹, 廖文和¹, 孙连军¹, 刘丽霞², 田威³, 薛枫¹

1. 南京理工大学机械工程学院南京 210094;
2. 北京卫星制造厂有限公司北京 100190;
3. 南京航空航天大学机电学院南京 210016

收稿日期:2020-06-11 修回日期:2020-12-21 出版日期:2021-04-05 发布日期:2021-05-25
通讯作者: 郑侃(通信作者),男,1983年出生,博士,副教授。主要研究方向为机器人旋转超声加工技术。E-mail:zhengkan@njust.edu.cn
作者简介:廖文和，男，1965年出生，博士，教授。主要研究方向为航空航天产品的先进制造技术。E-mail：cnwho@njust.edu.cn;孙连军，男，1992年出生，博士研究生。主要研究方向为机器人旋转超声铣削稳定性。E-mail：18751966256@163.com;刘丽霞，女，1975年出生，硕士，研究员。主要研究方向为航天器产品制造工艺、检测技术、可靠性和标准化。E-mail：zgcyxlxh@163.com;田威，男，1977年出生，博士，教授。主要研究方向为航空航天大部件智能制造技术与装备。E-mail：tw_nj@nuaa.edu.cn;薛枫，男，1995年出生，博士研究生。主要研究方向为旋转超声加工工艺。E-mail：imeimeimei@163.com
基金资助:
国家自然科学基金资助项目(51861145405,91860132,52075265)。

Comparative Study on Stability of Robotic Longitudinal Vibration and Longitudinal-torsional Ultrasonic Milling

ZHENG Kan¹, LIAO Wenhe¹, SUN Lianjun¹, LIU Lixia², TIAN Wei³, XUE Feng¹

1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094;
2. China Academy of Space Technology, Beijing 100190;
3. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2020-06-11 Revised:2020-12-21 Online:2021-04-05 Published:2021-05-25

摘要/Abstract

摘要： 针对工业机器人铣削大型航天器舱体支架存在颤振严重导致铣削平面度较低的问题，提出了机器人纵扭超声铣削新方法。分析了纵扭超声铣削刀尖运动轨迹，对比分析了机器人一维纵向超声铣削与机器人纵扭超声铣削的稳定域，并开展了两者的铣削力和铣削表面接刀痕对比试验。计算和试验结果显示：机器人纵扭超声铣削稳定域较机器人一维纵向超声铣削提升了46.7%，各种工况下的铣削力平均降幅达到了24.7%。同时，高频扭转振动的摄入使得机器人一维纵向超声铣削表面接刀痕高度差降低了48.7%。上述结论为大型航天器舱体支架的机器人高精高效加工提供了技术基础。

关键词: 机器人加工, 机器人纵扭超声铣削, 机器人铣削稳定性, 接刀痕

Abstract: Severe chatter caused by industrial robot milling of large spacecraft cabin stents, which results in low process flatness is a knotty problem. Robotic longitudinal-torsional rotary ultrasonic milling (RRUM-LT) is proposed innovatively. Firstly, the tool tip trajectory of RRUM-LT was analyzed. Then RRUM-LT stability domain is solved and compared with robot one-dimensional longitudinal rotary ultrasonic milling (RRUM). Finally, the robotic milling experiments are carried out to contrast the milling forces and the tool marks on the machined surface between two methods. Calculation and experimental results demonstrated that the stability domain of RRUM-LT is improved 46.7% compared with RRUM. And the average reduction of milling force increased 24.7%. Meantime, the addition of high-frequency torsional vibration decreased the tool marks height on the machined surface of RRUM by 48.7%. The above conclusions provide a technical basis for high-precision and high-efficient processing of large spacecraft cabin.

Key words: robotic machining, robotic longitudinal-torsional ultrasonic milling, robotic milling stability, cutter mark

中图分类号:

TG54

郑侃, 廖文和, 孙连军, 刘丽霞, 田威, 薛枫. 机器人纵振与纵扭超声铣削稳定性对比研究[J]. 机械工程学报, 2021, 57(7): 10-17.

ZHENG Kan, LIAO Wenhe, SUN Lianjun, LIU Lixia, TIAN Wei, XUE Feng. Comparative Study on Stability of Robotic Longitudinal Vibration and Longitudinal-torsional Ultrasonic Milling[J]. Journal of Mechanical Engineering, 2021, 57(7): 10-17.

参考文献

[1] 马传令,刘勇,陈明,等. CE-4中继卫星使命轨道维持与动量轮卸载联合控制方[J]. 宇航学报,2020,41(4):389-397. MA Weiling,LIU Yong,CHEN Ming,et al. A combined control method of chang'e-4 re lobey satellite's mission orbit-keeping maneuver and momentum[J]. Journal of Astronautics,2020,41(4):389-397.
[2] 胡瑞钦,张立建,孟少华,等. 基于柔顺控制的航天器大部件机器人装配技术[J]. 机械工程学报,2018,54(11):85-93.HU Ruiqin,ZHANG Lijian,MENG Shaohua,et al. Robotic assembly technology for heavy component of spacecraft based on compliance control[J]. Journal of Mechanical Engineering,2018,54(11):85-93.
[3] MOUSAVI S,GAGNOL V,BELHASSEN C,et al. Stability optimization in robotic milling through the control of functional redundancies[J]. Robotics and Computer-Integrated Manufacturing,2018,50:181-192.
[4] HE F X,LIU Y,LIU K. A chatter-free path optimization algorithm based on stiffness orientation method for robotic milling[J]. The International Journal of Advanced Manufacturing Technology,2019,101:2739-2750.
[5] 林晓青,杨继之,乐毅,等. 一种可移动检测机器人站位规划策略[J]. 宇航学报,2018,39(9):1031-1038. LIN Xiaoqing,YANG Jizhi,YUE Yi,et al. A base position planning strategy for a mobile inspection robot[J]. Journal of Astronautics,2018,39(9):1031-1038.
[6] 刘明爽. 航天器支架机器人铣削系统[D]. 南京:南京航空航天大学,2017. LIU Mingshuang. Robotic milling system for machining spacecraft stent[D]. Nanjing:Nanjing University of Aeronautics and Astronautics,2017.
[7] 周星,黄石峰,朱志红. 六关节工业机器人TCP标定模型研究与算法改进[J]. 机械工程学报,2019,55(11):186-196. ZHOU Xing,HUANG Shifeng,ZHU Zhihong. TCP calibration model research and algorithm improvement of six joint industrial robot[J]. Journal of Mechanical Engineering,2019,55(11):186-196.
[8] 郝大贤,王伟,王琦珑,等. 复合材料加工领域机器人的应用与发展趋势[J]. 机械工程学报,2019,55(3):1-17.HAO Daxian,WANG Wei,WANG Qilong,et al. Applications and development trend of robotics in composite material process[J]. Journal of Mechanical Engineering,2019,55(3):1-17.
[9] XIONG G,LI Z L,DING Y,et al. A closed-loop error compensation method for robotic flank milling[J]. Robotics and Computer-Integrated Manufacturing,2020,63,101928.
[10] CEN L J,MELKOTE S N,CASTLE J,et al. A method for mode coupling chatter detection and suppression in robotic milling[J]. Journal of Manufacturing Science and Engineering,2018,140(8):1-9.
[11] CORDES M,HINTZE W,ALTINTAS Y. Chatter stability in robotic milling[J]. Robotics and Computer Intergrated Manufacturing,2019,55:11-18.
[12] YUAN L,SUN S S,PAN Z G,et al. Mode coupling chatter suppression for robotic machining using semi-active magnetorheological elastomers absorber[J]. Mechanical Systems and Signal Processing,2019,117:221-237.
[13] XU S L,SHIMADA K,MIZUTANI M,et al. Analysis of machinable structures and their wettability of rotary ultrasonic texturing method[J]. Chinese Journal of Mechanical Engineering,2016,29(6):1187-1192.
[14] ZHAO J,ZHAN J M,ZHU P X,et al. Assessment and optimization for robot ultrasonic polishing[J]. Chinese Journal of Mechanical Engineering,2000,36(1):71-74.
[15] ALTINTAS Y,BUDAK E. Analytical prediction of stability lobes in milling[J]. CIRP Annals-Manufacturing Technology,1995,44(1):357-362.
[16] SUN L J,ZHENG K,LIAO W H,et al. Investigation on chatter stability of robotic rotary ultrasonic milling[J]. Robotics and Computer Integrated Manufacturing,2020,63:101911.
[17] YANG W A,HUANG C,CAI X L,et al. Effective and fast prediction of milling stability using a precise integration-based third-order full-discretization method[J]. International Journal of Advanced Manufacturing Technology,2020,106:4477-4498.
[18] INSPERGER T,STEPAN G. Updated semi-discretization method for periodic delay-differential equations with discrete delay[J]. International Journal for Numerical Methods in Engineering,2010,61(1):117-141.
[19] ALTINTAS Y. Analytical prediction of three dimensional chatter stability in milling[J]. JSME International Journal Series C,2001,44(3):717-723.

机器人纵振与纵扭超声铣削稳定性对比研究

Comparative Study on Stability of Robotic Longitudinal Vibration and Longitudinal-torsional Ultrasonic Milling

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	李文龙, 谢核, 尹周平, 丁汉. 机器人加工几何误差建模研究：II参数辨识与位姿优化[J]. 机械工程学报, 2021, 57(7): 169-184.
[2]	刘斐, 王伟, 王雷, 王刚, 贠超. 接触轮变形对机器人砂带磨削深度的影响^*[J]. 机械工程学报, 2017, 53(5): 86-92.