Dynamic vibration prediction and suppression method for large system of mobile milling robot

Abstract

The invention discloses a dynamic vibration prediction and suppression method for a large system of a mobile milling robot. The method comprises the following steps: establishing a mobile milling robot large system, namely an AGV-robot-tool-workpiece rigid-flexible coupling multi-body system dynamic model, by considering the deformation of a tool and a workpiece and the influence of an automatic guided vehicle (AGV) and a robot body on the vibration of a tool nose point, and predicting the vibration characteristics of the tool nose point; on the basis, a multi-island genetic algorithm is applied, overall parameters (robot postures and milling process parameters) of a robot machining system are optimized, and vibration suppression of tool nose points is achieved. According to the method provided by the invention, dynamic coupling among AGV-robot-cutter-workpiece is fully considered, and the dynamic characteristics in the milling process of the robot can be represented more comprehensively and accurately, so that the milling vibration of the robot is more effectively inhibited.

Description

technical field [0001] The invention relates to the technical field of robotic milling, in particular to a large-system dynamic vibration prediction and suppression method for a mobile milling robot. Background technique [0002] The cross-generational performance of the new generation of aircraft, such as long life, high safety, and ultra-high maneuverability, puts forward higher requirements for the milling quality, precision and efficiency of its complex and weakly rigid large components. In recent years, mobile robots, as an intelligent and flexible processing carrier, have been favored in the field of milling due to their high precision, high efficiency and high flexibility. [0003] However, for a new generation of aircraft, its components are mostly large and complex components with large size, complex structure and uneven wall thickness. When the robot is milling it, the weak rigidity brought by the serial open chain structure of the robot body is coupled with the w...

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Problems solved by technology

[0007] However, the above-mentioned research on the characteristics of robot milling is basically carried out for the dynamic modeling of the robot body or the robot body and the tool. Dynamic coupling, AGV, robot, tool, and workpiece should be considered as a whole, and an integrated dynamic model should be established to further analyze the vibration characteristics of milling and study vibration suppression methods. Unfortunately, there are few reports on relevant research.

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