机器人加工系统及其切削颤振问题研究进展

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摘要采用工业机器人加工系统来实现航空、航天等领域的装配现场加工，是非常有效的技术途径。由于机器人加工系统的整体刚度过低，在实际加工过程中较易自激产生颤振现象，造成加工失效甚至断刀现象，是当前机器人加工系统应用研究需要解决的技术难题。本文通过对国内外先进机器人加工系统的研究综述，重点分析机器人加工系统的主要特点及切削颤振问题，以机器人加工系统的刚度模型和动力学模型为理论基础，以期进一步揭示机器人加工系统切削颤振机理，为提高机器人加工系统的加工精度和动静态性能而设计出更适合的切削颤振主动抑制技术，并对有待进一步解决的问题以及未来的研究方向进行了讨论与展望。

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	王战玺
	张晓宇
	李飞飞
	张顺琦
	秦现生

关键词 ：机器人加工系统, 切削颤振, 刚度模型, 动力学模型, 主动抑制

Abstract：Applying industrial robot machining system is a very efficient technical way for assembly process of aviation and spaceflight field. Because the rigidity of whole robot machining system is quite low, the chatter phenomenon will be stimulated by the periodic disturbance load in machining process, which may results in processing failure, even machining system fracture. Therefore, the chatter phenomenon is a difficult technical problem need to be solved in the robot machining technology. In this paper, the research of domestic and foreign advanced robot machining system is presented. Focuses on the analysis of robot machining system main characteristics and cutting chatter behavior, robot machining system cutting chatter mechanism is expected reveal based on robot machining system stiffness model and dynamic model as the theoretical basis. In order to improve the machining precision of the robot processing system and the static and dynamic performance, it is expected to design more suitable cutting chatter active suppression, and then the further solution of the problems and future research directions are discussed.

Key words： Robot machining system, Cutting chatter, Stiffness model, Dynamic model, Active suppression

收稿日期: 2016-05-25 出版日期: 2017-07-15

引用本文:

王战玺，张晓宇，李飞飞，张顺琦，秦现生. 机器人加工系统及其切削颤振问题研究进展[J]. 振动与冲击, 2017, 36(14): 147-155.
WANG Zhan-Xi, Zhang Xiao-Yu, Li Fei-Fei, Zhang Shun-qi, QIN Xian-Sheng. A Review of Robot Machining System and Cutting Chatter Behavior. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(14): 147-155.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2017/V36/I14/147

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