A New Method for High-precision In-situ Milling Edge Processing of Industrial Robots for Large Composite Thin-walled Components

doi:10.3901/JME.2025.07.120

Abstract

Abstract: Addressing the challenges of weak rigidity and difficulty in ensuring cutting accuracy of large composite thin-walled components, as well as long design and manufacturing cycles and high processing costs of profiling tooling, a new method for high-precision in-situ milling edge processing of large composite thin-walled components using reconfigurable flexible tooling is proposed. This studg designs a robotic milling system for large composite components. Firstly, for the trajectory tracking problem of large composite components’ spatial curves, a vision-guided robot trajectory accuracy compensation algorithm is studied in combination with a binocular vision measurement system, and a high-precision servo control law is designed to achieve high-precision trajectory tracking control of the robot. Then an dynamics modeling method for large thin-walled components and flexible tooling is studied, and an optimal support layout strategy for flexible tooling based on intelligent optimization algorithm is proposed to improve the support rigidity of large complex thin-walled components. Further, an ultrasonic machining tool is designed and ultrasonic vibration milling processing technology is studied. Finally, through test verification, the processing vibration and trajectory errors of industrial robots are effectively reduced, and high-precision machining of large composite thin-walled components by robots is achieved.

Key words: industrial robot, large composite, milling edge, visual guidance, dynamics modeling, ultrasonic vibration cutting

CLC Number:

TP241

TIAN Wei, LI Pengcheng, MIAO Yunfei, LIAO Wenhe, DONG Song, MENG Dan. A New Method for High-precision In-situ Milling Edge Processing of Industrial Robots for Large Composite Thin-walled Components[J]. Journal of Mechanical Engineering, 2025, 61(7): 120-133.

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