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Robot milling flutter prediction and main modal analysis method

A technology of milling chatter and analysis method, which is applied in the direction of design optimization/simulation, special data processing application, etc. It can solve the problems of not being able to obtain Lobe diagrams, occupying huge computing resources, and fewer multi-modal robots, so as to improve stability prediction Efficiency, simple calculation, and the effect of improving processing efficiency and processing quality

Pending Publication Date: 2020-12-11
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

At present, some research has been carried out on the cross-frequency response characteristics and pose-dependent characteristics of robots, but the research on the multi-modal characteristics of robots is still relatively small, and the calculation is complicated. Each mode needs to be calculated separately, and the calculation resources are huge. , and the Lobe diagram under the coupling effect of multiple factors cannot be obtained, only the stability Lobe diagram under the individual effects of each mode can be extracted

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  • Robot milling flutter prediction and main modal analysis method
  • Robot milling flutter prediction and main modal analysis method
  • Robot milling flutter prediction and main modal analysis method

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Embodiment Construction

[0043] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0044] see Figure 8 , Figure 9 , Figure 10 and Figure 11 , the robot milling chatter prediction and main mode analysis method provided by the present invention, the analysis method studies the variation law of the dynamic cutting thickness with the rotating speed under different modes, and based on this, it is first proposed to judge the main influence under a certain working condition m...

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Abstract

The invention belongs to the technical field related to robot milling, and discloses a robot milling chatter prediction and main modal analysis method, which comprises the following steps: (1) constructing a dynamic cutting force model considering a regeneration chatter effect, and combining the dynamic cutting force model with a robot dynamic model considering a modal coupling effect to obtain adynamic cutting force model considering a regeneration chatter effect; carrying out modal space quality normalization conversion to obtain a final kinetic model; (2) analyzing the change of the dynamic cutting thickness of the robot along with the rotating speed under different modes according to the kinetic model, determining a mode influence factor, and judging the dominant mode of the milling flutter stability of the robot under a certain working condition by adopting the mode influence factor so as to provide a mode selection basis for predicting the milling stability of the robot, whereinthe modal influence factor is the phase difference of two times of blade ripples. According to the invention, operation data is saved, and the stability prediction efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field related to robot milling, and more specifically relates to a method for flutter prediction and principal mode analysis of robot milling. Background technique [0002] Due to the relatively weak rigidity of the robot body structure, the stability analysis of the robot milling processing system needs to consider the influence of the low-frequency robot mode and the high-frequency tool mode on the entire system at the same time. Therefore, to predict the stability of robot milling, it is necessary to establish a multi-stage modal stability model, but the multi-mode stability model also has the disadvantages of excessive calculation and long operation time, and it is impossible to clarify the differences in the robot milling system. The degree of influence of the order mode on the occurrence of flutter. How to use the characteristics of the robot's multi-order modes, and the effect of each mode on the dynamic s...

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Application Information

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IPC IPC(8): G06F30/20
CPCG06F30/20Y02T90/00
Inventor 彭芳瑜辛世豪唐小卫闫蓉
Owner HUAZHONG UNIV OF SCI & TECH
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