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

Abstract

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

CLC Number:

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.

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Review on chatter stability in robotic machining for large complex components

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