包含机器人-主轴系统耦合效应的铣削颤振稳定性分析

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振动与冲击 ›› 2025, Vol. 44 ›› Issue (6) : 13-27.

振动理论与交叉研究

包含机器人-主轴系统耦合效应的铣削颤振稳定性分析

籍永建*1,2,3，韩启超3，徐小康3

作者信息 +

Robotic milling chatter stability analysis considering the coupling effects between the robot and spindle system

JI Yongjian*1,2,3，HAN Qichao3，XU Xiaokang3

Author information +

文章历史 +

摘要

串联式工业机器人（以下简称机器人）刚度低，铣削加工过程极易由于工艺参数或机器人位姿选取不当产生颤振，颤振会降低工件表面质量、损坏机器人装备。针对机器人铣削加工颤振稳定性预测问题，通过构建机器人刚度模型的方式研究了机器人末端刚度随空间位姿的变化规律；阐明了主轴系统速度效应对刀尖动力学特性的影响规律，采用数据拟合的方法建立了主轴转速与刀尖固有频率之间的映射函数；构建了综合考虑机器人-主轴系统耦合效应的铣削动力学模型，采用锤击试验方法获得机器人铣削系统刀尖的阻尼比与模态质量，得到了包含不同影响因素的机器人铣削加工稳定性叶瓣图，揭示了机器人-主轴系统耦合作用下铣削颤振稳定性的动态变化规律，进行了试验验证。结果表明，与现有模型相比，考虑机器人-主轴系统耦合效应构建的稳定性叶瓣图更加符合实际铣削状态，可有效提升机器人铣削颤振的预测准确率。

Abstract

Due to the low stiffness of serial industrial robots, the robotic milling process is prone to chatter due to the improper selection of processing parameters or robot pose, which will reduce the surface quality of the workpiece and damage the robot equipment.In order to predict the chatter stability of robotic milling, the variation of robot end stiffness along with the spatial pose was studied by constructing the stiffness model of the robot.The dynamic model of the spindle system was constructed, then the influence of the speed effect on the dynamic characteristics of the tool tip was studied, and the mapping function between the spindle speed and the natural frequency of the tool tip was constructed by data fitting method.A robotic milling dynamic model considering the coupling effects between the robot and spindle system was proposed.The damping ratio and modal mass at the tool tip of the robotic milling system were obtained by hammer experiments, and the stability lobe diagram of the robotic milling system considering different factors was obtained.The variation law of milling chatter stability under the coupling effects of the robot-spindle system was revealed and verified by experiments.The results show that the stability lobe diagram obtained when considering the robot-spindle system coupling effects is more consistent with the actual milling state, which can effectively improve the prediction accuracy of robotic milling chatter stability.

导出引用

籍永建1, 2, 3, 韩启超3, 徐小康3. 包含机器人-主轴系统耦合效应的铣削颤振稳定性分析[J]. 振动与冲击, 2025, 44(6): 13-27

JI Yongjian1, 2, 3, HAN Qichao3, XU Xiaokang3. Robotic milling chatter stability analysis considering the coupling effects between the robot and spindle system[J]. Journal of Vibration and Shock, 2025, 44(6): 13-27

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