大曲率表面机器人高速磨削中的陀螺力矩分析

doi:10.3901/JME.2022.15.208

机械工程学报 ›› 2022, Vol. 58 ›› Issue (15): 208-215.doi: 10.3901/JME.2022.15.208

• 特邀专栏：先进磨粒加工技术 • 上一篇下一篇

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大曲率表面机器人高速磨削中的陀螺力矩分析

王文玺^1,2, 黄云^1,2, 刘占芳³, 邹莱^1,2, 吕冲¹

1. 重庆大学机械与运载工程学院重庆 400044;
2. 重庆大学机械传动国家重点实验室重庆 400044;
3. 重庆大学航空航天学院重庆 400044

收稿日期:2021-09-11 修回日期:2022-04-21 发布日期:2022-10-13
通讯作者: 刘占芳(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为连续介质力学基础理论、变形与运动耦合动力学、弹性应力波。E-mail:zhanfang@cqu.edu.cn
作者简介:王文玺,男,1990年出生,博士,助理研究员。主要研究方向为复杂曲面高效精密加工技术。E-mail:wx.wang@cqu.edu.cn;黄云,男,1962年出生,博士,教授,博士研究生导师。主要研究方向为现代制造工艺及装备,先进制造技术。E-mail:yunhuang@samhida.com
基金资助:
国家自然科学基金委员会与中国工程物理研究院联合基金（U1830115）、国家自然科学基金（11772071，52105430）和中央高校基本科研业务费专项资金（2020CDJQY-Z004）资助项目。

Analysis of Gyroscopic Moment in High-speed Grinding of Robots with Large Curvature Surfaces

WANG Wenxi^1,2, HUANG Yun^1,2, LIU Zhanfang³, ZOU Lai^1,2, Lü Chong¹

1. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044;
2. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044;
3. College of Aerospace Engineering, Chongqing University, Chongqing 400044

Received:2021-09-11 Revised:2022-04-21 Published:2022-10-13

摘要/Abstract

摘要： 工业机器人具有灵活性好、易于调度、通用性强等特点，在大型复杂曲面件磨削中表现出了良好的适应性。而大尺寸复杂曲面件进行精密砂轮磨削时，因工件表面曲率大、尺寸大，高速自旋磨头常伴有连续快速摆动需求而使陀螺力矩加剧。与高速弹道/飞行器中陀螺力矩对俯仰位姿调整的阻碍效应相似，陀螺力矩过大也会影响高速重载磨削时磨头位姿的精准控制。为揭示陀螺力矩在机器人磨削中的作用机理，支撑装备选型设计与工艺优化，以高速自旋磨头做单轴摆动为对象开展了理论建模与算例分析。推导了磨头两次定轴转动后的合成角速度和角加速度，基于欧拉动力学方程求得了各轴转矩在全局和局部坐标系下的表达式，最后以水轮机叶片磨削为例对机器人负载能力进行了校核分析并提出了改进意见。发现在磨头局部坐标系下，高速磨头做单轴匀速摆动时的陀螺力矩产生在未发生转动的剩余正交轴向上，其幅值与自旋方向转动惯量、主轴自旋角速度、主轴摆动角速度呈正比。

关键词: 工业机器人, 陀螺力矩, 高速磨削, 定点转动, 复杂曲面

Abstract: With good flexibility, easy scheduling, and versatility, industrial robots have shown good adaptability in the grinding of large and complex curved parts.In the case of precision wheel grinding of large complex curved parts, the gyroscopic moment is intensified due to the large curvature and size of the workpiece surface, and the high-speed grinding head is often accompanied by the demand for continuous rapid rotation.Similar to the hindering effect of the gyroscopic moment on pitch attitude adjustment in high-speed ballistic/aircraft, an excessive gyroscopic moment can affect the accurate control of grinding head attitude during high-speed heavy-duty grinding.To reveal the mechanism of the gyroscopic moment in robotic grinding and support equipment selection design and process optimization, theoretical modeling and case analysis are carried out with a high-speed grinding head doing single-axis rotation.The synthetic angular velocity and angular acceleration of the grinding head after two fixed-axis rotations are derived, and the expressions for the moment of each axis in the global and local coordinate systems are obtained based on the Eulerian dynamics equation.Finally, the robot load capacity is calibrated and analyzed with the example of turbine blade grinding, and improvement suggestions are made.It is found that in the local coordinate system of the grinding head, the gyroscopic moment when the high-speed grinding head makes a single-axis uniform rotation is generated in the remaining orthogonal axis where no rotation occurs, and its amplitude is proportional to the rotation inertia in the spin direction, the spindle spin angular velocity, and the spindle swing angular velocity.

Key words: industrial robot, gyroscopic moment, high-speed grinding, fixed-point rotation, complex surface

中图分类号:

TH161

王文玺, 黄云, 刘占芳, 邹莱, 吕冲. 大曲率表面机器人高速磨削中的陀螺力矩分析[J]. 机械工程学报, 2022, 58(15): 208-215.

WANG Wenxi, HUANG Yun, LIU Zhanfang, ZOU Lai, Lü Chong. Analysis of Gyroscopic Moment in High-speed Grinding of Robots with Large Curvature Surfaces[J]. Journal of Mechanical Engineering, 2022, 58(15): 208-215.

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大曲率表面机器人高速磨削中的陀螺力矩分析

Analysis of Gyroscopic Moment in High-speed Grinding of Robots with Large Curvature Surfaces

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