Research on Mirror Milling of Thin-Walled Parts Based on Collaborative Motion Control of Dual Hybrid Robots
To improve the machining quality of mirror milling of thin-walled parts,this paper proposes a collaborative motion control strategy for mirror milling of dual hybrid robots.Firstly,based on the characteristics of robot motion control,an open CNC system with a dual CPU master-slave control architecture is developed to achieve human-computer interaction and motion control.Then,in order to achieve dual robots collaborative motion and improve the machining quality of thin-walled parts,four key technologies are integrated into the CNC system,namely mirror path generation of dual robots,synchronous speed planning,collaborative kinematics,and real-time compensation of motion errors.Finally,based on the independently developed integrated mirror milling CNC system,flat thin-walled part slot milling experiments with single and multi-point support,dual robots collaborative and non collaborative machining,multi-point support surface milling experiments,high curvature path high-speed collaborative motion experiments,and curved thin-walled part slot milling experiments are carried out.The experimental results show that the proposed collaborative motion control strategy can ensure high synchronization position accuracy of the dual robots.In addition,the multi-point support method can improve the vibration stability of workpiece milling while ensuring the wall thickness of thin-walled parts.
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