大型复杂构件机器人加工稳定性研究进展

doi:10.7527/S1000-6893.2021.26061

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大型复杂构件机器人加工稳定性研究进展

廖文和, 郑侃, 孙连军, 董松, 张磊

南京理工大学机械工程学院, 南京 210094

收稿日期:2021-07-05 修回日期:2021-09-06 出版日期:2022-01-15 发布日期:2021-09-06
通讯作者: 廖文和 E-mail:cnwho@njust.edu.cn
基金资助:
国家自然科学基金（52075265，51861145405）

Review on chatter stability in robotic machining for large complex components

LIAO Wenhe, ZHENG Kan, SUN Lianjun, DONG Song, ZHANG Lei

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Received:2021-07-05 Revised:2021-09-06 Online:2022-01-15 Published:2021-09-06
Supported by:
National Natural Science Foundation of China (52075265, 51861145405)

摘要/Abstract

摘要： 工业机器人正逐步应用于大型复杂构件的制造与装配领域，其加工稳定性是实现大型复杂构件高精、高效、高质量加工的基础，颤振抑制是实现机器人稳定加工的重要途径。与数控机床单一颤振类型不同，机器人加工颤振主要由再生型颤振和振型耦合型颤振构成，二者共同作用加剧了稳定性解析的复杂度。国内外学者在机器人加工颤振形成机理、颤振预测与控制等方面开展了理论与实验研究，并取得了诸多成果，但研究仍处于起步阶段。目前，机器人加工颤振产生机理尚不明确、稳定性理论解析方法尚不全面、颤振控制技术尚不成熟，工程应用尚未普及，加工稳定性研究的深度和广度仍有较大提升空间。为此，从机器人加工颤振机理、颤振规避方法、颤振抑制方法及加工稳定性应用案例分析4个方面对国内外文献进行了全面总结，并提出后续发展方向，可为大型复杂构件机器人加工稳定性的研究提供指导。

关键词: 工业机器人, 加工稳定性, 再生型颤振, 振型耦合型颤振, 大型复杂构件

Abstract: Industry robots are widely applied to the manufacturing and assembly of large complex components. Its machining stability is the prerequisite and basis for accomplishing the high-precision, high-efficiency and high-quality production. Chatter suppression is an important way to realize the stable processing of robots. Unlike the single chatter type in CNC machine tools, robotic machining instability involves regenerative chatter and mode couple chatter mainly. As a result, the combined effect of the two increases the complexity of chatter stability analysis greatly. Currently, scholars at home and abroad have carried out theoretical and experimental research on robotic processing chatter formation mechanism, chatter prediction and control, and have achieved many results. However, it is still in its infancy. For example, the chatter mechanism is not clear, the analysis methods of stability are not comprehensive enough and engineering applications are not yet popular. Apart from this, the chatter control technology is also not mature. There is much more improvement in the depth and breadth of robotic stability investigation. Therefore, this article summarizes the domestic and foreign literature from four aspects such as robotic machining chatter mechanism, chatter avoidance, suppression method and typical application analysis. Finally, the follow-up development suggestions are proposed to guide the stability research of robotic machining large complex parts.

Key words: industrial robot, machining stability, regenerative chatter, mode couple chatter, large complex components

中图分类号:

廖文和, 郑侃, 孙连军, 董松, 张磊. 大型复杂构件机器人加工稳定性研究进展[J]. 航空学报, 2022, 43(1): 26061-026061.

LIAO Wenhe, ZHENG Kan, SUN Lianjun, DONG Song, ZHANG Lei. Review on chatter stability in robotic machining for large complex components[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(1): 26061-026061.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

大型复杂构件机器人加工稳定性研究进展

Review on chatter stability in robotic machining for large complex components

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