Delaying tool chatter in turning with a two-link robotic arm
Delaying tool chatter in turning with a two-link robotic arm
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DOI：
10.1016/j.jsv.2012.08.006
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发表时间：
2013-03
影响因子：
4.7
通讯作者：
Abdullah Özer;S. E. Semercigil;R. P. Kumar;P. Yowat
中科院分区：
文献类型：
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作者：
Abdullah Özer;S. E. Semercigil;R. P. Kumar;P. Yowat
颤动会留下粗糙的加工表面，加速刀具的磨损，并产生难以接受的噪音水平。抑制颤振的传统方法是减慢材料的去除率。这样的动作通常是成功的，避免了抖动，但会增加生产时间和成本。因此，需要保持相当快的生产率并采用抖动控制措施。本文对机器人车削过程中的半主动参数控制技术进行了数值研究。对两连杆机械臂模型进行了研究。通过与主轴转速同步改变关节刚度，实现了颤振的控制。比较了控制和非控制情况下的稳定性波瓣图。仿真结果表明，通过改变机器人结构的关节刚度可以获得显著的改善。该方法稳定、有效，不需要在机器人的执行关节处增加硬件。
Chatter leaves a rough machined surface, accelerates wear of the cutter and creates unacceptably loud noise levels. A conventional approach to suppress chatter is to slow the material removal rate. Such an action is usually successful to avoid chatter, but causes increased production time and cost. Therefore, it is desirable to maintain a reasonably fast rate of production and employ a chatter control measure. In this research, a semi-active parameter control technique is investigated numerically during a robotic turning process. Investigations have been performed on a two-link robotic arm model. The control of chatter has been achieved by varying the joint stiffness in a synchronized mode with the spindle speed. Stability lobe diagrams have been compared for controlled and uncontrolled cases. Simulation results showed that significant improvements can be achieved by varying the joint stiffness of robotic structures. The proposed method is stable, effective and requires no additional hardware to implement at the actuated joints of robots.