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

  

  • Received:2022-08-12 Revised:2022-10-25 Online:2023-03-21 Published:2023-03-21

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

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