基于量子粒子群算法和峭度的机器人制孔振动抑制方法

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摘要六自由度串联机器人加工时易发生振动，该问题限制了其在制孔领域的应用。为此提出了一种机器人制孔系统振动抑制方法，基于刚度椭球和量子粒子群算法（QPSO）实现机器人制孔系统位姿优化，在此基础上采用快速傅里叶变换（FFT）实现切削状态分类，并以峭度作为振动严重程度评价指标，实现机器人制孔系统加工参数优化。通过试验得出位姿优化后最大孔径误差显著降低至0.05mm以下，在此基础上加工参数优化后最大孔径误差不超过0.04mm，峭度也显著减小，验证了该方法能够抑制制孔振动，提高加工精度。该方法综合考虑了位姿与加工参数优化，扩充了机器人在加工生产线的应用场景。提出了峭度作为振动严重程度评价指标，为在线抑制机器人制孔振动提供了新的思路。

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	李浩杰
	姚宝国
	葛雨勋
	牛腾飞

关键词 ：工业机器人, 振动抑制, 量子粒子群算法, 峭度

Abstract：The six degrees of freedom (DOF) serial robot is prone to vibration during machining. A vibration suppression method for the robot hole-making system was proposed. The robot machining stiffness was quantified based on the stiffness ellipsoid, and the posture of the robot hole-making system was optimized using the quantum particle swarm optimization(QPSO) algorithm. On this basis, the Fast Fourier Transform (FFT) was used to classify the drilling state and the kurtosis was used as the evaluation index of the vibration severity to optimize the machining parameters for the robot hole-making system. The results of the machining experiments show that the maximum aperture error after the posture optimization is significantly reduced to less than 0.05mm, and is not more than 0.04mm after the machining parameters optimization based on the posture optimization. The kurtosis is also significantly reduced after the machining parameters optimization, which verifies that the method can suppress the hole-making vibration and improve machining accuracy. This method comprehensively considers the optimization of the posture and machining parameters to expand the application of robot in the machining production line. The kurtosis is applied as an evaluation index of vibration severity, which provides a new approach for online vibration suppression of robot hole-making.

Key words： industrial robot vibration suppression quantum particle swarm optimization kurtosis

收稿日期: 2022-08-25 出版日期: 2023-11-15

引用本文:

李浩杰，姚宝国，葛雨勋，牛腾飞. 基于量子粒子群算法和峭度的机器人制孔振动抑制方法[J]. 振动与冲击, 2023, 42(21): 263-271.
LI Haojie, YAO Baoguo, GE Yuxun, NIU Tengfei. Vibration suppression method for robot drilling based on quantum particle swarm optimization algorithm and kurtosis. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(21): 263-271.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I21/263

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