机器人纵扭超声铣边颤振在线监测方法研究

doi:10.7527/S1000-6893.2022.27919

Abstract

Abstract: For the problem of chatter misjudgment in robotic edge trimming due to isolated information, this paper proposes a chatter monitoring method based on multi-source features fusion. Firstly, the maximum correlation minimum redundancy (MRMR) algorithm is applied for studying the sensitivity of different features to chatter and a multi-source feature classification model is constructed. Principal component analysis (PCA) is used to fuse the top 3 sensitive features into a new chatter feature. Meanwhile, the chatter threshold of the system is determined by the PauTa criterion. Finally, the online monitoring software of the robotic longitudinal-torsional ultrasonic edge trimming chatter is written to achieve accurate detection and identification of chatter state. The results of validation experiments show that the response time of fused features can be earlier 1.536s than that of the traditional single feature.

Key words: Robotic longitudinal-torsional ultrasonic edge trimming, Chattering online monitoring, Feature selection, Multi-source information fusion, Chatter threshold

CLC Number:

V261
TH16

References

[1] ZHU D H, FENG X Z, XU X H, et al. Robotic grinding of complex components: A step towards efficient and intelligent machining –challenges, solutions, and applications[J]. Robotics and Computer Integrated Manufacturing, 2020, 65: 101908.
[2] 王立凡.大型薄壁构件镜像加工装备运动控制技术研究[D]. 大连: 大连理工大学, 2019:1-5.
WANG L F. Study on motion control of mirror milling equipment for large thin-walled parts[D]. Dalian: Dalian University of Technology, 2019: 1-5 (in Chinese).
[3] 薛雷, 曾宏伟, 覃程锦, 等. 采用同步压缩变换和能量熵的机器人加工颤振监测方法[J]. 西安交通大学学报, 2019, 53(8): 24-30+89.
XUE L, ZENG H W, QIN C J, et al. A chatter monitoring method for robotic machining using synchro-squeezed transform and energy entropy[J]. Journal of Xi’an Jiaotong University, 2019, 53(8): 24-30+89 (in Chinese).
[4] 廖文和, 田威, 李波, 等. 机器人精度补偿技术与应用进展[J]. 航空学报, 2022, 43(05): 9-30+2.
LIAO W H, TIAN W, LI B, et al. Error compensation technology and its application progress of an industrial robot[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43(05): 9-30+2 (in Chinese).
[5] 董松, 郑侃, 孟丹, 等. 大型复杂构件机器人制孔技术研究进展[J]. 航空学报, 2022, 43(05): 31-48+2.
DONG S, ZHENG K, MENG D, et al. Robot drilling of large complex components: A review[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43(05): 31-48+2 (in Chinese).
[6] 廖文和, 郑侃, 孙连军, 等. 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(01): 164-183.
LIAO W H, ZHENG K, SUN L J, et al. Review on chatter stability in robotic machining for large complex components[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43(01): 164-183 (in Chinese).
[7] 孙红伟, 祝景萍, 郑侃, 等. 机床与机器人旋转超声铣边对比试验研究[J]. 南京理工大学学报, 2022, 46(01): 1-6.
SUN H W, ZHU J P, ZHENG K, et al. Comparative experimental research on rotary ultrasonic edge trimming milling of machine tool and robot[J]. Journal of Nanjing University of Science and Technology, 2022, 46(01): 1-6 (in Chinese).
[8] ZHANG J L, LIAO W H, ZHAO W, et al. Research on stability of robotic longitudinal-torsional ultrasonic milling with variable cutting force coefficient[J]. The International Journal of Advanced Manufacturing Technology, 2022, 1707-1715.
[9] SUN L J, ZHENG K, LIAO W H, et al. Investigation on chatter stability of robotic rotary ultrasonic milling[J]. Robotics and Computer Integrated Manufacturing, 2020, 63: 101911.
[10] TLUSTY J. Manufacturing processes and equipment[M]. Upper Saddle River: Prentice Hall, 1999: 223-225.
[11] ALTINTAS Y. Manufacturing automation: Metal cutting mechanics, machine tool vibrations, and CNC design[M]. Cambridge: Cambridge University Press, 2012: 145-148.
[12] YAO Z, MEI D, CHEN Z. On-line chatter detection and identification based on wavelet and support vector machine[J]. Journal of Materials Processing Technology, 2010, 210(5): 713-719.
[13] 张磊, 郑侃, 孙连军, 等. 基于小波包敏感频带选择的复材铣边颤振监测研究[J]. 机械工程学报, 2022, 58(03): 140-148.
ZHANG L, ZHENG K, SUN L J, et al. Investigation on milling chatter monitoring based on WPD frequency band selection and frequency elimination algorithm[J]. Journal of Mechanical Engineering (in Chinese).
[14] 董辉跃, 吴杨宝, 郭英杰, 等. 机器人精镗飞机交点孔的颤振分析与识别[J]. 浙江大学学报(工学版), 2018, 2(8): 1517-1525.
DONG H Y, WU Y B, GUO Y J, et al. Chatter analysis and identification in robotic fine boring of aircraft intersection holes[J]. Journal of Zhejiang University (Engineering Science), 2018, 52(8): 1517-1525 (in Chinese).
[15] CHEN F, ZHAO H. Design of eddy current dampers for vibration suppression in robotic milling[J]. Advances in Mechanical Engineering, 2018, 10(11): 1-15.
[16] SUN L J, LIAO W H, ZHENG K, et al. Stability analysis of robotic longitudinal-torsional composite ultrasonic milling[J]. Chinese Journal of Aeronautics, 2022, 35(8): 249-264.
[17] 郭伟华. 机器人旋转超声铣削铝合金工艺实验研究[D]. 南京: 南京理工大学, 2018: 28-39.
GUO W H. Experimental research on rotating ultrasonic milling aluminum alloy by robot[D]. Nanjing: Nanjing University of Science and Technology, 2018: 28-39 (in Chinese).
[18] 郑侃, 廖文和, 孙连军, 等. 机器人纵振与纵扭超声铣削稳定性对比研究[J]. 机械工程学报, 2021, 57(7): 10-17.
ZHENG K, LIAO W H, SUN L J, et al. Comparative study on stability of robotic longitudinal vibration and longitudinal-torsional ultrasonic milling[J]. Journal of Mechanical Engineering, 2021,57(7): 10-17 (in Chinese).
[19] DONG S, ZHENG K, LIAO W H. Stability of lateral vibration in robotic rotary ultrasonic drilling[J]. International Journal of Mechanical Sciences, 2018, 145: 346-352.
[20] JI W, WANG L H. Industrial robotic machining: a review[J]. The International Journal of Advanced Manufacturing Technology, 2019, 103(1-4): 1239-1255.
[21] KULJANIC E, TOTIS G, SORTINO M. Development of an intelligent multisensor chatter detection system in milling[J]. Mechanical Systems and Signal Processing, 2009, 23(5): 1704-1718.
[22] KULJANIC E, SORTINO M, TOTIS G. Multisensor approaches for chatter detection in milling[J]. Journal of Sound and Vibration, 2008, 312(4-5): 672-693.
[23] 王志学, 刘献礼, 李茂月, 等. 切削加工颤振智能监控技术[J]. 机械工程学报, 2020, 56(24): 1-23.
WANG Z X, LIU X L, LI M Y, et al. Intelligent monitoring and control technology of cutting chatter[J]. Journal of Mechanical Engineering, 2020, 56(24): 1-23 (in Chinese).
[24] 董礼仪. 多传感器融合的刀具磨损预测及多工况迁移学习研究[D]. 成都: 电子科技大学, 2020.
DONG L Y. Tool wear prediction based on multi-sensor information fusion and transfer learning under multiple operating conditions[D]. Chengdu: University of Electronic Science and Technology of China (in Chinese).
[25] 刘明才. 小波分析及其应用[M]. 北京: 清华大学出版社, 2013.
LIU M C, Wavelet analysis and its applications. Beijing: Tsinghua University Press,2013 (in Chinese).
[26] 李洁平. 铣削加工颤振试验设计及其应用[D]. 武汉：华中科技大学, 2019.
LI J P. Design and Application of milling chatter tests[D]. Wuhan: Huazhong University of Science and Technology, 2019 (in Chinese).

Research on chatter online monitoring of robotic longitudinal-torsional ultrasonic edge trimming

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 4

Recommended Articles

Metrics

Comments

[1]	YIN Dongliang, HUANG Xiaoying, WU Yanjie, HE Youchen, XIE Jingwei. Target recognition decision method based on cloud model and improved D-S evidence theory [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(12): 324768-324768.
[2]	WANG Wei, XING Chaoyang, FENG Wenshuai. State of the art and perspectives of autonomous navigation technology [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 525049-525049.
[3]	GUAN Xiaoying, CHEN Guo, LIN Tong. Feature selection method based on differential evolution and genetic algorithm with multi-criteria evaluation and its applications [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(11): 3455-3465.
[4]	Zhu Mingquan;Cai Yongxia. SENSOR FUSION VIA NEURAL NETWORKS FOR ESTIMATION OF TOOL WEAR [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 1997, 18(1): 120-122.