This invention discloses a method for adjusting the end
effector stiffness of a
hybrid robot used in the
machining of thin-walled structural parts. The method first collects the proportional
gain of each active
branch servo drive
system as the axial
servo stiffness; secondly, it establishes a mapping model based on the
robot configuration to solve for the equivalent axial
servo stiffness of the end
effector in the reference coordinate
system; subsequently, it introduces stiffness weighting coefficients and combines them with the mechanical stiffness and
electromechanical coupling stiffness performance evaluation index; finally, it uses a one-dimensional discrete
search algorithm to
traverse and filter redundant rotation angles that satisfy displacement and rotation constraints while keeping the end
effector pose unchanged, aiming to maximize the
electromechanical coupling stiffness index and generate an optimal sequence of redundant rotation angles. This invention establishes an
electromechanical coupling model integrating mechanical and servo systems and adaptively adjusts the end effector stiffness using redundant
degrees of freedom, which can effectively suppress
cutting deformation and chatter during the
machining of thin-walled parts while reducing computational complexity, significantly improving
machining quality.