Milling force simulation and feed rate optimization considering robot pose-dependent dynamic effects

By predicting the pose-dependent dynamic characteristics of the robot through modal testing and multi-task Gaussian process regression model, and combining dynamics and mechanical force models to simulate milling force and optimize feed rate, the problem of pose-dependent dynamic effects in robot milling is solved. This achieves accurate simulation of milling force and optimization of feed rate, improving machining accuracy and efficiency.

CN120633161BActive Publication Date: 2026-08-18HUAZHONG UNIV OF SCI & TECH
0 Cites 0 Cited by

Patent Information

Application Number
CN202510711568.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-05-29
Publication Date
2026-08-18
Estimated Expiration
2045-05-29

AI Technical Summary

Technical Problem

Existing technologies in robotic milling fail to effectively consider the impact of robot pose-dependent dynamics on the instantaneous undeformed chip thickness, do not perform dynamic updates of the workpiece surface, and do not conduct milling experiments on complex curved parts, resulting in low milling stability and a narrow window of process parameter options, making it difficult to improve accuracy.

Method used

A modal parameter prediction model under the vertical tool axis vector is established through modal testing. Modal parameters are predicted by combining a multi-task Gaussian process regression model. Mechanical force and dynamic models are established, dynamic cutting force simulation is performed, and feed rate optimization is carried out. Considering the dynamic characteristics of robot pose dependence, adaptive planning under the constraints of dynamic workpiece surface update and cutting force peak is realized.

Benefits of technology

It improves the accuracy and efficiency of milling, reduces the number and cost of modal testing experiments, stabilizes cutting forces, reduces tool wear and downtime, and enhances machining stability and economy.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

The application belongs to the technical field of robots, and discloses a milling force simulation and feed rate optimization method considering the pose-dependent dynamic effect of a robot. The application firstly performs modal testing at different poses in the milling area of the robot. Then, a dynamic model is established in the cutting area of the robot. At the same time, the workpiece surface is dynamically updated based on the dynamic sweeping track of the cutting edge and the workpiece model, so as to ensure the calculation accuracy of the instantaneous cutting thickness and the cutting force. Finally, based on the simulated accurate cutting force, the feed rate is segmented and adaptively planned under the constraint of the cutting force peak value, and the robot milling of the curved surface part and the machining error measurement experiment are carried out. The application realizes the effective improvement of the milling machining efficiency and accuracy of the curved surface part, and the cutting force in the machining process is more stable. The application has important significance for the improvement of the stability and machining performance in the robot machining process.
Need to check novelty before this filing date? Find Prior Art