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Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace

引用

Science China(Technological Sciences) 2024年第6期67卷 1783-1797页

作者： LUO WenLong TANG XiaoWei MA Tao GUO QiuShuang XU YanYan YUAN Xing ZHANG Lei MAO XinYong School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan430074China State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System Baotou014030China Wuhan Heavy Duty Machine Tool Group Corporation Wuhan430205China

Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process ***,because of its articulated serial structure,a milling robot has an enormous number of operating postures,and its dynamics are affected by the motion *** accurately obtain the FRF in the operating state of a milling robot,this paper proposes a method based on the structural modification *** the traditional excitation method,the proposed method uses robot joint motion excitation instead of hammering excitation to realize *** address the problem of the lack of information brought by motion excitation,which leads to inaccurate FRF amplitudes,this paper derives the milling robot regularization theory based on the sensitivity of structural modification,establishes the modal regularization factor,and calibrates the FRF *** to the commonly used manual hammering experiments,the proposed method has high accuracy and reliability when the milling robot is in different *** the measurement can be performed directly and automatically in the operation state,and the problem of inaccurate amplitudes is solved,the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.

关键词： milling robot structural dynamics frequency response function automatic identification modal regularization factor high-dimensional workspace

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