基于模态耦合颤振的骨切削机器人加工过程优化及控制策略研究

本项目以骨切削机器人新理论和新方法为目标，在现有骨切削机器人系统基础上开展如下研究：（1）机器人骨切削机理研究。研究切削参数、机器人结构动力学参数等对骨破裂、温度上升、刀具断裂等的影响；研究在机器人振动极限、主轴功率极限，骨破裂极限、热坏死极限，刀具断裂极限等多约束条件下的进给参数优化问题。（2）机器人骨切削中模态耦合颤振研究。研究非对称结构机器人模态耦合颤振与骨切削过程结合的系统建模、稳定性问题。（3）基于机器人最小刚度方向定向的切削轨迹优化问题的研究。通过机器人加工时的位姿，理论计算不发生模态耦合颤振的进给方向。（4）骨切削机器人多传感器反馈安全控制算法研究。包括多传感器信息融合模型，信号处理方法等。本项目是结合机器人结构振动和骨切削过程的研究，有助于正确分析机器人加工中的关键问题。本项目将为骨科机器人的研制提供核心理论和关键技术，推动骨科机器人的临床应用。

The project aims to explore new theories and methods of bone machining robots, and carry out the following studies based on the existing bone machining robot systems: (1) Study on the mechanism of robot bone cutting. It studies the effects of cutting parameters and dynamic characteristics parameter of robot structure on the bone fracture, temperature rise and tool breakage. In addition, the robot vibration limit, spindle power limit, bone fracture limit, thermal and necrotic limit, tool breakage limit and other constraints under the optimal feed parameters will be studied. (2) Study on the modal coupling chatter characteristics of robot bone machining, System modeling and stability problems of modal coupling chatter and bone cutting in asymmetric structure robot will be studied. (3) Study on the cutting trajectory optimization problem based on the orientation of the minimum stiffness of the robot. The feeding direction without modal coupling chatter is calculated theoretically according to the pose of robot during machining. (4) Study on multi-sensor feedback safety control algorithm of bone machining robot, including multi-sensor information fusion model, signal processing methods, etc. Combining the vibration of robot structure with the process of bone cutting, the study is helpful of key problems analysis in robot machining. This project will provide the core theory and key technology for the development of orthopedic robot, and promote its clinical application.