Finite element simulation and experimental analysis of robotic boring based on an approach of equivalent stiffness
Finite element simulation and experimental analysis of robotic boring based on an approach of equivalent stiffness
复制标题
基于等效刚度法的机器人镗孔有限元仿真与实验分析
DOI：
10.1177/0954405416683430
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发表时间：
2018-09
期刊：
影响因子：
--
通讯作者：
Ke Yinglin
中科院分区：
文献类型：
--
作者：
Wang Guifeng;Dong Huiyue;Guo Yingjie;Ke Yinglin
机器人镗削是实现相贯孔精加工的有效途径。然而，在一定程度上，它的应用是有限的，由于低刚度的机器人，其刚度带来高的振动水平。在这项研究中，提出了一种基于等效刚度的新方法，以便对机器人钻孔系统的切割机理和振动性能有一个基本的了解。该方法根据机器人的结构特点，将机器人单向镗削系统视为质量-弹簧-阻尼单元。因此，整个机器人镗孔系统在三维空间中等效为一个质量-弹簧-阻尼组。在ABB IRB 6600-175/2.55机器人上，通过刚度识别和模态试验，测量了机器人系统的刚度和固有频率。基于该方法建立了机器人镗孔过程的等效三维有限元模型，并通过实验验证了有限元仿真的准确性。结果表明，在不同切削条件下，仿真得到的切削力分量和进给方向上的幅值与实验结果吻合较好，表明该方法是可行的。
Robotic boring is an effective way to implement finish machining of intersection holes. However, to a certain extent, its application is limited due to the low rigidity of the robot, whose stiffness brings on high vibration levels. In this study, a new approach based on an equivalent stiffness is proposed to gain a fundamental understanding for the cutting mechanism and vibration performance of a robotic boring system. In the approach, the robotic boring system in one direction is regarded as a mass–spring–damping unit according to the structure characteristics of the robot. Thus, the whole robotic boring system is equivalent to a mass–spring–damping group in three-dimensional space. The stiffness and natural frequency of the robot system were measured by stiffness identification and a modal test on an ABB IRB 6600-175/2.55 robot. An equivalent three-dimensional finite element model based on this approach was established to simulate the robotic boring process, and a verification experiment was conducted to determine the accuracy of the finite element simulation. The results show that the simulated cutting force components and the amplitude in the feed direction are in good agreement with the experiment under different cutting conditions, and this proposed approach is feasible.
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影响因子：
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作者：
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影响因子：
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DOI：
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发表时间：
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期刊：
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作者：
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DOI：
10.1016/j.ijmachtools.2010.03.009
发表时间：
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影响因子：
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