摘要
机器人铣削加工依赖姿态的动态特性,零件表面形貌的准确预测仍然面临一定的挑战。针对铣削机器人加工过程中刀具振动对表面形貌的影响,提出一种结合工艺参数和刀具振动影响的工件表面形貌数学模型。基于齐次坐标变换矩阵,通过刀具几何形状、刀具偏心量和冗余角计算切削刃的运动轨迹,采用逆距离加权法预测机器人铣削系统不同姿态下的动态特性,构建机器人铣削系统动态模型以计算铣刀的振动位移,进而修正切削刃的运动轨迹。最后,通过铣削实验验证所提方法的有效性。结果表明:预测的表面粗糙度与实验值具有良好的一致性,验证了模型在表面形貌预测中的准确性。
Robot milling depends on the dynamic characteristics of the posture,and the accurate prediction of the surface topography of the parts is still faced with certain challenges.Aiming at the influence of tool vibration on surface topography of robot milling,a mathematical model of workpiece surface topography combining the influence of process parameters and tool vibration was proposed.Based on the homogeneous coordinate transformation matrix,the motion trajectory of the cutting edge was calculated by the tool geometry,tool eccentricity and redundant angle.The inverse distance weighting method was used to predict the dynamic characteristics of the robot milling system under different postures.The dynamic model of the robot milling system was constructed to calculate the vibration displacement of the milling cutter and then the motion trajectory of the cutting edge was corrected.Finally,the effectiveness of the proposed method was verified by milling experiments.The results show that predicted surface roughness is in good agreement with the experimental values,which verifies the accuracy of the model in the prediction of surface topography.
作者
李慧娟
许利君
LI Huijuan;XU Lijun(School of Engineering,Zhengzhou Technology and Business University,Zhengzhou Henan 451400,China)
出处
《机床与液压》
北大核心
2025年第9期52-59,共8页
Machine Tool & Hydraulics
基金
2023年产学合作协同育人项目(23A250026)。
关键词
铣削机器人
表面形貌
预测模型
铣刀振动
动态特性
milling robot
surface morphology
prediction model
milling cutter vibration
dynamic characteristics
作者简介
李慧娟(1989-),女,硕士,讲师,主要研究方向为机器人结构设计及控制技术。E-mail:dutiyong18@163.com。
