航天构件加工移动式混联机器人颤振稳定域分析与铣削验证

doi:10.3901/JME.260013

机械工程学报 ›› 2026, Vol. 62 ›› Issue (1): 195-203.doi: 10.3901/JME.260013

• 特邀专栏：运载火箭机构技术 • 上一篇

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航天构件加工移动式混联机器人颤振稳定域分析与铣削验证

刘争^1,2, 张泽², 张嘉骏^1,3, 谢福贵^1,3, 刘辛军^1,3

1. 清华大学机械工程系北京 100084;
2. 首都航天机械有限公司北京 100076;
3. 清华大学高端装备界面科学与技术全国重点实验室北京 100084

收稿日期:2025-04-01 修回日期:2025-08-14 发布日期:2026-02-13
作者简介:刘争，男，1983年出生，研究员，博士研究生。主要研究方向为航天产品数控加工和机器人加工。E-mail：cncmlab@163.com
刘辛军(通信作者)，男，1971年出生，博士，教授，博士研究生导师，国家杰出青年科学基金获得者，教育部“长江学者”特聘教授，国家“万人计划”领军人才，现任IFToMM中国委员会主席。主要研究方向为机构学与机器人、先进与智能制造装备。E-mail：xinjunliu@mail.tsinghua.edu.cn
基金资助:
国家自然科学基金资助项目(92148301)。

Chatter Stability Domain Analysis and Milling Verification for a Mobile Hybrid Robot in Aerospace Components Machining

LIU Zheng^1,2, ZHANG Ze², ZHANG Jiajun^1,3, XIE Fugui^1,3, LIU Xinjun^1,3

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
2. Capital Aerospace Machinery Corporation, Limited, Beijing 100076;
3. State Key Laboratory of Tribology in Advanced Equipment, Tsinghua University, Beijing 100084

Received:2025-04-01 Revised:2025-08-14 Published:2026-02-13

摘要/Abstract

摘要： 航天典型铝合金结构件具有整体尺寸大、局部特征小的特点，对设备的大行程和高动态加工能力提出了挑战。通过“极限寻优法”，针对一种具有全向大范围移动能力、末端高动态性能的柱坐标移动式混联机器人，进行了切削颤振稳定叶瓣图分析、试验测定与铣削验证。首先，开展了颤振稳定域分析，确定了该移动式混联机器人在全行程范围内的切削能力最弱位姿；随后通过多向切削试验，验证了该测定结果的准确性；再根据航天典型结构件特征尺寸选定了试验刀具，并测定了该刀具在切削能力最弱位姿的极限切削能力；然后以此为依据设计航天结构件典型特征切削路径，并完成了铣削验证；最后以1:1产品样件进行了综合切削试验，验证了移动式混联机器人在航天典型铝合金结构件铣削加工中的应用可行性与技术先进性。

关键词: 移动式混联机器人, 航天结构件, 高动态加工, 稳定叶瓣图, 铣削验证

Abstract: The aerospace aluminum alloy components have the characteristics of large size and small features, posing equipment requirements for large working ranges and high dynamic machining capabilities. The extreme optimization method is proposed to analyze the cutting stability lobe diagram and verify the machining ability of a cylindrical coordinate mobile hybrid robot, which has omnidirectional large-range mobility and high-dynamics end-effector capabilities. First, the chatter stability domain analysis is conducted to identify the weakest machining capacity posture across the robot’s full workspace. Then the accuracy of the analysis results is validated by multi-directional machining tests. To conduct the prototype component machining test, the experimental tools are selected according to characteristic dimensions of typical aerospace components, followed by determination of the maximum machining capacity at the identified weakest posture and typical feature machining paths for aerospace components. Finally, a comprehensive 1:1 prototype component machining test is conducted, demonstrating the hybrid robot’s technical feasibility and advanced performance in milling aerospace aluminum alloy components.

Key words: mobile hybrid robot, aerospace components, high dynamic machining, stability lobe diagram, milling verification

中图分类号:

TP242

刘争, 张泽, 张嘉骏, 谢福贵, 刘辛军. 航天构件加工移动式混联机器人颤振稳定域分析与铣削验证[J]. 机械工程学报, 2026, 62(1): 195-203.

LIU Zheng, ZHANG Ze, ZHANG Jiajun, XIE Fugui, LIU Xinjun. Chatter Stability Domain Analysis and Milling Verification for a Mobile Hybrid Robot in Aerospace Components Machining[J]. Journal of Mechanical Engineering, 2026, 62(1): 195-203.

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航天构件加工移动式混联机器人颤振稳定域分析与铣削验证

Chatter Stability Domain Analysis and Milling Verification for a Mobile Hybrid Robot in Aerospace Components Machining

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