Binary tree robot milling system frequency response predication method based on RCSA (Risk and Control Self-Assessment) (Chinese)

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The invention relates to the field of milling machining of robots and discloses a binary tree robot milling system frequency response predication method based on RCSA (Risk and Control Self-Assessment). The binary tree robot milling system frequency response predication method comprises the following steps: (a) dividing a milling system into a substructure B, a substructure A and a flexible combining part; (b) acquiring a frequency response function of the substructure B and carrying out modal parameter standardization on the frequency response function; solving modal parameters and a couplingfunction of the substructure B under a to-be-solved posture; (c) establishing a finite element model of the substructure A and optimizing tool material parameters of the finite element model; acquiring a frequency response function and a response matrix of the finite element model; (d) carrying out an experiment to measure the frequency response function of a whole structure under the to-be-solved posture, and carrying out inverse computation through an IRCSA method to obtain a response matrix of the flexible combining part; (e) calculating a milling system tool end frequency response function under the to-be-solved posture according to the RCSA method. By adopting the predication method provided by the invention, the tool end frequency response function under different postures of the robot milling system is accurately acquired, and accurate predication of the milling stability under the different postures of the robot is realized.

本发明涉及机器人铣削加工领域,并公开了种基于RCSA的二叉树机器人铣削系统频响预测方法,其包括:(a)将铣削系统划分为子结构B、子结构A和柔性结合部;(b)获取子结构B频响函数并对其模态参数标准化,求解子结构B在待求解姿态下的模态参数和耦合函数;(c)建立子结构A有限元模型并优化其刀具材料参数,获取其频响函数和响应矩阵;(d)实验测得待求解姿态下整体结构的频响函数,并通过IRCSA方法反算得到柔性结合部的响应矩阵;(e)根据RCSA方法计算待求解姿态下的铣削系统刀具端频响函数。本发明提出的预测方法,准确获得机器人铣削系统不同姿态下的刀具端频响函数,实现机器人不同姿态下铣削稳定性的精确预测。

Document information

  • Title:
    Binary tree robot milling system frequency response predication method based on RCSA (Risk and Control Self-Assessment)
  • Additional title:
    种基于RCSA的二叉树机器人铣削系统频响预测方法
  • Patent number:
    CN108268745
  • Application date:
    2018-03-30
  • Patent applicant:
  • Patent family:
  • Author / Creator:
  • Publisher:
    Europäisches Patentamt
  • Year of publication:
    2018
  • Type of media:
    Patent
  • Type of material:
    Electronic Resource
  • Language:
    Chinese
  • Classification:
    IPC:    G06F Elektrische digitale Datenverarbeitung, ELECTRIC DIGITAL DATA PROCESSING

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