机器人旋转超声铣削铝合金实验研究
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摘要
针对机器人铣削过程中因刚度不足导致的铣削力过大,进而引起机器人加工精度低的问题,该文提出了一种基于旋转超声的机器人铣削加工方法。基于KUKA工业机器人开展机器人旋转超声铣削和普通铣削对比实验,探究旋转超声加工与工业机器人结合的可行性。分析了超声振动对铣削力、颤振和表面精度的影响规律。实验结果表明,超声振动可使铣削力降低22%,且颤振振幅降低25%以上,同时高频的振动冲击可有效抑制颤振,改善表面质量。
Aiming at the low machining precision caused by large milling force due to the low rigidity in the process of robot milling,the robot machining method based on rotating ultrasonic is proposed here. In order to explore the possibility of the rotating ultrasonic machining combined with the industrial robots,the robotic rotating ultrasonic milling(RRUM)experiments and the robotic conventional milling(RCM)experiments are set up based on KUKA industrial robots. The effects of ultrasonic on milling force,chatter and surface precision are analyzed respectively. The experimental results show that the ultrasonic vibration can reduce the milling force by 22% and the flutter amplitude by more than 25%. Meanwhile,high frequency vibration can effectively suppress flutter and improve the surface quality.
Aiming at the low machining precision caused by large milling force due to the low rigidity in the process of robot milling,the robot machining method based on rotating ultrasonic is proposed here. In order to explore the possibility of the rotating ultrasonic machining combined with the industrial robots,the robotic rotating ultrasonic milling(RRUM)experiments and the robotic conventional milling(RCM)experiments are set up based on KUKA industrial robots. The effects of ultrasonic on milling force,chatter and surface precision are analyzed respectively. The experimental results show that the ultrasonic vibration can reduce the milling force by 22% and the flutter amplitude by more than 25%. Meanwhile,high frequency vibration can effectively suppress flutter and improve the surface quality.
引文
[1] 刘明爽.航天器支架机器人铣削系统[D].南京:南京航空航天大学机电学院,2017.
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[5] 薛世超,高国琴,庄景灿.基于UG的六自由度并联机器人曲面铣加工实现[J].机械设计与制造,2009(1):110-112.Xue Shichao,Gao Guoqin,Zhuang Jingcan.Surface milling machining of six degree of freedom parallel robot based on UG[J].Mechanical Design and Manufacture,2009(1):110-112.
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[9] Jung H,Hayasaka T,Shamoto E.Mechanism and suppression of frictional chatter in high-efficiency elliptical vibration cutting[J].CIRP Annals-Manufacturing Technology,2016,65(1):369-372.
[10] 隋翯,张德远,陈华伟,等.超声振动切削对耦合颤振的影响[J].航空学报,2016,37(5):1696-1704.Sui Yu,Zhang Deyuan,Chen Huawei,et al.Influence of ultrasonic vibration cutting on coupled flutter[J].Journal of Aeronautics,2016,37(5):1696-1704.
[2] 周莹皓,张加波,乐毅,等.移动机器人技术在航天制造业中的应用[J].机械设计与制造工程,2018,47(2):87-91.Zhou Yinghao,Zhang Jiabo,Le Yi,et al.Application of mobile robot technology in aerospace manufacturing industry[J].Mechanical Design and Manufacturing Engineering,2018,47(2):87-91.
[3] Olabi A,Béarée R,Gibaru O,et al.Feedrate planning for machining with industrial six-axis robots[J].Control Engineering Practice,2010,18(5):471-482.
[4] 谢小辉,孙立宁,程源.基于离线编程的机器人柔顺打磨方法及实验[J].南京理工大学学报,2016,40(5):619-625.Xie Xiaohui,Sun Lining,Cheng Yuan.Off-line program based robotic compliant grinding method and experiment[J].Journal of Nanjing University of Science and Technology,2016,40(5):619-625.
[5] 薛世超,高国琴,庄景灿.基于UG的六自由度并联机器人曲面铣加工实现[J].机械设计与制造,2009(1):110-112.Xue Shichao,Gao Guoqin,Zhuang Jingcan.Surface milling machining of six degree of freedom parallel robot based on UG[J].Mechanical Design and Manufacture,2009(1):110-112.
[6] Garnier S,Subrin K,Waiyagan K.Modelling of robotic drilling[J].Procedia Cirp,2017,58:416-421.
[7] Matsuota S I,Shimizu K,Yamazaki N,et al.High-speed end milling of an articulated robot and its characteristics[J].Journal of Materials Processing Technology,1999,95(1-3):83-89.
[8] Nath C,Rahman M,Neo K S.A study on the effect of tool nose radius in ultrasonic elliptical vibration cutting of tungsten carbide[J].Journal of Materials Processing Technology,2009,209(17):5830-5836.
[9] Jung H,Hayasaka T,Shamoto E.Mechanism and suppression of frictional chatter in high-efficiency elliptical vibration cutting[J].CIRP Annals-Manufacturing Technology,2016,65(1):369-372.
[10] 隋翯,张德远,陈华伟,等.超声振动切削对耦合颤振的影响[J].航空学报,2016,37(5):1696-1704.Sui Yu,Zhang Deyuan,Chen Huawei,et al.Influence of ultrasonic vibration cutting on coupled flutter[J].Journal of Aeronautics,2016,37(5):1696-1704.