机器人孔口倒角加工振动及抑制

在分析机器人倒角切削振动成因的基础上，提出机器人反向倒角切削振动抑制方法.首先通过构建机器人倒角切削力以及压脚压力作用下的系统动力学模型，对振动成因进行分析，发现在轴向力作用下机器人产生明显动态变形，在径向力与切向力作用下机器人则发生明显强迫振动；进而提出一种机器人反向倒角切削方法，以消除轴向力对机器人的作用，并通过压脚压力的合理选取抑制强迫振动的发生；最后通过机器人正反向倒角对比试验，验证了机器人反向倒角切削的可靠性.试验结果表明：机器人反向倒角切削表面粗糙度小于Ra1.6 μm，孔口宽度差最大为0.05 mm.

Vibration analysis and suppression in robotic hole chamfering process

The vibration causes of robotic hole chamfering were analyzed and a backward machining method was proposed to suppress the vibration. First, the vibration causes were analyzed by building system dynamics model under chamfering cutting force and pressure foot. It is found that the obvious dynamic deformation of robot is produced by axial force and the forced vibration is formed by radial force and tangential force. Furthermore, a backward champing method was proposed to eliminate the effect of axial force on the robot, on the basis of which, the forced vibration was suppressed by choosing reasonable pressure of the pressure foot. Finally, large numbers of forward and backward hole chamfering contrast experiments were conducted; the results verify the reliability of backward machining. The experimental results show that the surface roughness obtained by backward champing is below Ra1.6 μm and the difference of bevel width between the maximum and minimum value is 0.05 mm.