Research on the directionality of end dynamic compliance dominated by milling robot body structure and milling vibration suppression |
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| Affiliation: | 1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China;2. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China;1. Department of Mechanical Engineering, The University of British Columbia, 2054 – 6250 Applied Science Lane, Vancouver, BC, V6T 1Z4, Canada;2. School of Mechanical Engineering, Ningxia University, Yinchuan 750021, P.R. China;3. Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi''an Jiaotong University, Xi''an 710049, P.R. China;1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;2. MIIT Key Laboratory of Intelligent Manufacturing Technology for Aeronautics Advanced Equipments, Ministry of Industry and Information Technology, Beijing 100191, China;3. Beijing Key Laboratory of digital design and manufacturing technology, Beijing 100191, China;4. Sandvik Coromant, Stockholm 12679, Sweden;5. Department of Production Engineering, KTH Royal Institute of Technology, Stockholm 10044, Sweden;1. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China;2. Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong;1. Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin 150080, China;2. KTH Royal Institute of Technology, 11428 Stockholm, Sweden |
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| Abstract: | The end dynamic characteristics dominated by the milling robot's body structure play a crucial role in vibration control and chatter avoidance in robotic milling. As the excitation source, the milling force may exist in any direction under different process parameters. Consequently, investigating the directional distribution of the end dynamic characteristics becomes essential for studying the direction-dependent dynamic response of a milling robot. In this paper, firstly, the directionality of the end modal vibration is proved based on the body structure mode shape of the milling robot. Subsequently, combined with the multi-body dynamics model of milling robots, the distribution of the end dynamic compliance with the excitation direction in the robot mode is modeled and found to be double-sphere, which is verified experimentally. A convenient method for acquiring the double-sphere dynamic compliance (DSDC) is given and its portability is shown. Then, two application cases of the DSDC in milling vibration suppression are given. In Case 1, based on the DSDC, the milling vibration amplitude is found to be distributed as an eccentric ellipse with a non-orthogonal basis with the feed angle in a robot mode, wherein a feed direction selection method for reducing milling vibration without traversal calculation is given with experimental validation. Case 2 shows that according to the guidance of the DSDC, the tuned mass damper can significantly suppress the milling vibration. It is worth noting that the directionality of the end modal vibration and DSDC constitute fundamental dynamic properties of milling robots, which may provide a new theoretical basis for the research related to the robotic end dynamic characteristics (such as frequency response function identification, mode coupling chatter mechanism and its suppression, etc.), which are well worth exploring. |
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