Drive based vibration damping on industrial robots for milling operations

用于铣削操作的工业机器人的基于驱动器的减振

• 批准号: 290804444
• 负责人: Dr.-Ing. Armin Lechler
• 金额: --
• 依托单位: Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2016
• 资助国家: 德国
• 起止时间: 2015-12-31 至 2022-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/290804444?language=en
• 关键词: Drive; based; vibration; damping; industrial

In the area of easily machinable materials and large-volume workpieces, there is a desire to use industrial robots as a cost-effective alternative to conventional machine tools. This is primarily a result of the high number of degrees of freedom, the required space and the significantly more favorable ratio of workspace to investment costs. However, this trend is countered by the disadvantages of limited absolute accuracy as well as the sensitivity to vibration, which has a negative effect on the machining quality and the achievable metal removal rate. During the first funding period, two different control methods based on the joint positions were designed and implemented. It has been shown that the vibrations excited by the interaction of the process forces and the robot structure can be damped drive-based. Thus, the accuracy and productivity of robot machining cells can be improved. The key issue of the second funding period is whether the improvements achieved in a small workspace can be extended to the entire workspace. For this purpose, the locally valid drive-based vibration damping method, which was developed in the first funding period, will be modified using gain-scheduling to ensure its functionality in the entire workspace. It is the only way to fully exploit the potential of industrial robots for machining large-volume workpieces.

在易加工材料和大体积零件领域，人们希望使用工业机器人作为传统机床的经济有效的替代品。这主要是由于高自由度、所需空间以及工作空间与投资成本的比率明显更有利的结果。然而，这一趋势被绝对精度有限以及对振动敏感的缺点所抵消，这对加工质量和可实现的金属去除率产生了负面影响。在第一个筹资期间，根据联合头寸设计并实施了两种不同的控制方法。研究表明，由过程作用力和机器人结构相互作用引起的振动可以是基于驱动的减振。因此，可以提高机器人加工单元的精度和生产率。第二个供资期的关键问题是，在一个小工作空间内取得的改进能否推广到整个工作空间。为此目的，在第一个供资期间开发的当地有效的基于驱动的减振方法将使用增益调度进行修改，以确保其在整个工作空间中发挥作用。这是充分挖掘工业机器人加工大体积零件潜力的必由之路。