Analysis of vibration response and machining quality of hybrid robot based UD-CFRP trimming
Analysis of vibration response and machining quality of hybrid robot based UD-CFRP trimming
复制标题
基于UD-CFRP修边的混合机器人振动响应与加工质量分析
DOI：
10.1177/0954405420986093
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Hou Zhuojie
中科院分区：
文献类型：
--
作者：
Zhang Yan;Li Hao;Qin Xuda;Liu Jie;Hou Zhuojie
为了满足更高精度、更好质量和更灵活的要求，高性能工业机器人在航空航天工业中的应用迅速增加。考虑到复合材料的各向异性和非均匀性，本研究主要研究了新设计的混合动力机器人（TriMule）在CFRP切边过程中的动态响应及其对加工质量的影响。首先，结合切削力特性，得到了刀具中心点在动力激励下的振动响应；首先通过对比混合动力机器人和机床，研究了机器人TCP振动对不同纤维取向的加工表面质量的影响，包括表面波纹度、空腔、三维表面粗糙度和影响区深度。实验结果表明，所建立的TCP振动响应模型具有足够的预测精度。同时发现，机器人振动响应越大，表面波纹度越大，表面空腔越大，影响区域越大。结果还表明，纤维取向和铣削方式是影响CFRP切边过程中机器人振动和加工质量的两个重要因素。
To fulfill the demands of higher precision, better quality, and more flexibility, the usage of high-performance industrial robots is rapidly increased in aerospace industry. Considering the anisotropic and inhomogeneous characteristics of composite materials, this study focuses mainly on dynamic response investigation of a newly designed hybrid robot (named as TriMule) in CFRP trimming process and its influence on the machined quality. First, combined with the cutting force characteristic, the vibration responses of tool center point (TCP) under the dynamic excitation were obtained. The influences of robotic TCP vibration on machined surface quality with different fiber orientations, including surface waviness, cavity, 3D surface roughness, and depth of affected zone, are first studied by comparing hybrid robot and machine tool. From experiment results, it can be concluded the proposed TCP vibration response model has sufficient prediction accuracy. Meanwhile, it is found that larger robotic vibration response is accompanied by higher surface waviness, bigger surface cavity, and greater affected zone. Results also showed that the fiber orientation and milling style are two essential factors that affect robot vibration and machining quality during CFRP trimming.