Multi-robot collaborative manufacturing has become an effective new way to achieve high-quality and efficient machining of large weak rigid components in aerospace.However,multiple cutting excitations acting to-gether on weakly rigid components will generate complex machining vibrations,and result in poor manufactur-ing accuracy and quality.This article studies the mechanism of vibration generation,propagation and coupling under cutting excitation,and proposes a vibration suppression method for weak rigid component with dual robot collaborative machining based on machining excitation phase difference control.The simulation and experimen-tal study is also carried out on the example of thin-walled cabin panel,which verified the correctness and effec-tiveness of the proposed method.The research provides a new idea for the complex vibration suppression prob-lem of multi-robot collaborative manufacturing.
维普
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