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关于切割器悬架长度对机器人研磨机稳定性影响的研究
Yongjian Ji1,2, Runnan Liu3
1Key Laboratory of Modern Measurement & Control Technology Ministry of Education, Beijing Information Science & Technology University, No.12 East Qinghexiaoying Road, Beijing, 100192, China. jiyongjian@bistu.edu.cn.
Scientific reports
|October 22, 2024
概括
削刀的悬挂长度显著影响机器人削的稳定性. 较长的悬架降低了刚性和自然频率,影响了声和加工精度,特别是在多模式合时.
科学领域:
- 制造业 工程 制造工程
- 机器人技术 机器人技术 机器人技术
- 机械振动 机械振动
背景情况:
- 系列工业机器人对于大规模制造至关重要.
- 机器人结构可能会导致削操作期间的聊天.
- 削刀的悬架长度是机器人削稳定的关键因素.
研究的目的:
- 为了研究削机悬架长度对机器人削稳定性的影响.
- 分析不同悬挂长度的磨削刀具的动态特性.
- 用实验机器人削数据验证稳定性叶片图.
主要方法:
- 通过对不同悬架长度的子实验获取模态参数.
- 削机的动态特征分析.
- 稳定性叶片图形分析用于机器人削.
- 通过机器人试验进行实验验证.
主要成果:
- 削刀的刚性和自然频率随着悬架长度的增加而下降.
- 短悬架长度显示预测和实际加工状态之间的差异.
- 低轴速与短悬挂可以导致低频振动由于能量转移到机器人机身.
- 在考虑多模式合时,增加的切割器悬挂和特定的料方向可以提高稳定性叶片图的一致性.
结论:
- 削机悬架长度是一个影响机器人削稳定性和动态行为的关键参数.
- 准确的稳定性预测需要考虑诸如多模式合之类的因素,特别是增加过吊的情况.
- 优化悬架长度和料方向对于稳定高效的机器人加工过程至关重要.
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