机器人镗孔加工系统稳定性分析
收稿日期: 2015-01-06
修回日期: 2015-02-26
网络出版日期: 2015-03-25
基金资助
浙江省自然科学基金(LY13E050009)
Stability analysis of robot boring system
Received date: 2015-01-06
Revised date: 2015-02-26
Online published: 2015-03-25
Supported by
Zhejiang Provincial Natural Science Foundation(LY13E050009)
方强 , 李超 , 费少华 , 孟涛 . 机器人镗孔加工系统稳定性分析[J]. 航空学报, 2016 , 37(2) : 727 -737 . DOI: 10.7527/S1000-6893.2015.0064
In order to perform the finish boring procedure of the aircraft landing gear's junction hole in the aircraft assembly field, a six axis industrial robot with a special designed end-effector system is proposed. The structure of pressure foot is a key technology to avoid chatter in this robot boring system. Through establishing an analytical model for stability limit prediction considering dynamical characteristics with and without pressure foot structure of the robot boring system, the chatter stability lobes is achieved and studied to reveal the mechanism of the chatter depressing of the pressure foot. In addition, experiments are conducted to verify the rationality of the theoretical modeling under different pressure foot parameter condition. The analytical model and experiments show that the stability of the robot boring process can be enhanced by applying pressure foot system and choosing a rational pressure value. Stable machining area is expanded and chatter is avoided.
Key words： pressure foot; industrial robot; boring; chatter; stability lobes
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