首页|Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace

Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace

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Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process optimization.However,because of its articulated serial structure,a milling robot has an enormous number of operating postures,and its dynamics are affected by the motion state.To accurately obtain the FRF in the operating state of a milling robot,this paper proposes a method based on the structural modification concept.Unlike the traditional excitation method,the proposed method uses robot joint motion excitation instead of hammering excitation to realize automation.To address the problem of the lack of information brought by motion excitation,which leads to inaccurate FRF amplitudes,this paper derives the milling robot regularization theory based on the sensitivity of structural modification,establishes the modal regularization factor,and calibrates the FRF amplitude.Compared to the commonly used manual hammering experiments,the proposed method has high accuracy and reliability when the milling robot is in different postures.Because the measurement can be performed directly and automatically in the operation state,and the problem of inaccurate amplitudes is solved,the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.

milling robotstructural dynamicsfrequency response functionautomatic identificationmodal regularization factorhigh-dimensional workspace

LUO WenLong、TANG XiaoWei、MA Tao、GUO QiuShuang、XU YanYan、YUAN Xing、ZHANG Lei、MAO XinYong

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School of Mechanical Science and Engineering,Huazhong University of Science and Technology Wuhan 430074,China

State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System,Baotou 014030,China

Wuhan Heavy Duty Machine Tool Group Corporation,Wuhan 430205,China

National Natural Science Foundation of ChinaKey R&D plan of Hubei ProvinceState Key Laboratory of Smart Manufacturing far Special Vehicles and Transmission System

521754632022BAA055GZ2022KF008

2024

10.1007/s11431-023-2625-8

中国科学:技术科学(英文版)
中国科学院

中国科学:技术科学(英文版)

CSTPCDEI
影响因子：1.056
ISSN：1674-7321
年,卷(期)：2024.67(6)
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