Research on Dynamic Characteristics of Milling Cutter Posture for Robot Milling Processing
In response to the impact of milling cutters on the stability of robot milling,a regression model and coupled substructure analysis ( RCSA ) method were used to establish different tool attitude dynamic models considering cross coupling frequency response functions. By designing excitation experiments to measure the expected frequency response matrix,the measured frequency response matrix was fitted to a multi degree of freedom model,reducing the number of modal parameters. The multi task Gaussian process ( MTGP) regression model is used to explore the physical correlations between different modal parameters. Compared with the ordinary Gaussian process regression model,the proposed model reduces the number of regression models required for MTGP,improves prediction accuracy and robustness. The effectiveness of the proposed method was verified through impact tests on industrial robots.
robot millingcross coupling frequency responseGaussian process regressiontool posture
万方数据
维普
