Robotic machining chatter active suppression method, system, device, and medium based on ultrasonic field energy

Abstract

The application discloses a robot machining chatter active suppression method and system based on an ultrasonic field energy, a device and a medium, acceleration signals and cutting force signals in a robot machining process are acquired; spectrum analysis is performed on the acceleration signals to identify a chatter frequency when the robot machining system generates chatter; chatter amplitude of the robot machining system is calculated according to a theoretical cutting force and an actually measured cutting force; current chatter energy of the robot machining system is calculated according to the chatter frequency and the chatter amplitude; a mapping relationship between the chatter energy of the robot machining system and ultrasonic vibration energy is established, and power required to be output by an ultrasonic power supply is determined according to the current chatter energy of the robot machining system. By establishing an analytical model of the robot machining system chatter frequency, chatter amplitude and chatter energy, and constructing a mapping relationship between the robot system chatter energy and the ultrasonic vibration energy, adaptive control of robot machining stability is realized.

Description

Technical Field

[0001] This invention belongs to the field of robotic processing technology, specifically relating to a method, system, equipment, and medium for active suppression of chatter in robotic processing based on ultrasonic field energy. Background Technology

[0002] The rapid development of intelligent manufacturing has placed higher demands on the aerospace manufacturing sector. In production environments that demand high efficiency, high precision, and high reliability, industrial robots, with their automation, intelligence, and programmability, have become crucial tools in aerospace manufacturing. Currently, the weak stiffness of industrial robots, leading to chatter during machining, is a major obstacle to their application in aerospace component processing. For industrial robots, changes in pose during machining inevitably alter their machining dynamics.

[0003] Existing methods for suppressing chatter in robot machining include passive suppression, semi-active suppression, and active suppression. Passive suppression mainly reduces vibration by increasing robot rigidity or installing various vibration dampers; semi-active suppression mainly reduces system machining vibration by manually adjusting the input of external energy; active suppression calculates the vibration frequency based on the robot's machining state and adjusts the input of external energy in real time to suppress chatter.

[0004] Passive suppression methods are economical and stable, but they can generally only target a single vibration mode and cannot adapt to the time-varying characteristics of the robot machining system dynamics. Semi-active suppression methods can change the energy input to suppress machining vibration according to the changes in the robot's vibration frequency, but they require manual adjustment and cannot change the energy input in real time based on the machining state. The advantage of active suppression methods is that they can change the energy input in real time according to the robot's vibration frequency and adaptively suppress robot machining chatter.

[0005] Currently, ultrasonic vibration, as a type of vibrational energy field, has been proven to effectively suppress chatter in robotic machining. However, existing research has only theoretically investigated the feasibility of using ultrasonic energy to suppress chatter. How to adjust the magnitude of the ultrasonic energy field in real time according to the robot's machining vibration frequency to suppress chatter remains a challenging problem in the active vibration suppression application of ultrasonic energy. Summary of the Invention

[0006] The purpose of this invention is to provide a method, system, device and medium for active suppression of flutter in robotic processing based on ultrasonic field energy, so as to solve the problems existing in the application of ultrasonic energy in active vibration suppression.

[0007] This invention is achieved through the following technical solution: A method for active flutter suppression in robotic machining based on ultrasonic field energy includes the following steps: Acquire acceleration and cutting force signals during robot machining; Spectral analysis of acceleration signals is performed to identify the chatter frequency when chatter occurs in the robot machining system; Calculate the chatter amplitude of the robot machining system based on the theoretical cutting force and the actual measured cutting force; Calculate the current chatter energy of the robot machining system based on the chatter frequency and chatter amplitude; Establish a mapping relationship between the flutter energy and ultrasonic vibration energy of the robot machining system, and determine the power output required by the ultrasonic power supply based on the current flutter energy of the robot machining system.

[0008] In some embodiments, the step of identifying the chatter frequency when chatter occurs in the robotic machining system includes: Real-time acquisition of time-domain signals during the machining process of the robot machining system, and conversion of the time-domain signals into array format; The acceleration signal of the robot processing system is processed online. The frequency of a short segment of the signal is analyzed by fast Fourier transform and used as a real-time frequency estimate of the current signal to obtain the time spectrum of the signal. The result is then converted into a single-sided spectrum output. The main target frequency of the robot processing system is obtained by extracting the time spectrum, which is the chatter frequency.

[0009] In some embodiments, the chatter amplitude of the robotic machining system Represented as: ; in, F RT This represents the theoretical cutting force calculated based on the machining parameters; F ST This represents the cutting force measured experimentally. J The Jacobian matrix representing the robot; The inverse of the Jacobian matrix is ​​represented by . This represents the transpose of the inverse of the Jacobian matrix; k θj ( j =1,2,3…6) represents the joint stiffness of the robot, j This indicates the sequence number of the robot's motion joints.

[0010] In some embodiments, the current chatter energy of the robotic machining system Represented as: ; in, m Indicates the modal quality of the robot processing system; P Indicates the flutter frequency; Indicates the flutter amplitude value; .

[0011] In some embodiments, the step of establishing the mapping relationship between the chatter energy and ultrasonic vibration energy of the robotic processing system includes: Establish flutter energy With ultrasonic vibration energy The relationship between them is represented as: ; Where, γ v Indicates the energy ratio; P e The power of the ultrasonic power supply; T u Indicates the period of ultrasonic vibration; η u The energy conversion efficiency of the ultrasonic processing system; ; v z and v t Indicates the rate of longitudinal ultrasonic vibration and torsional ultrasonic vibration; v zd and v td Represents the theoretical design values ​​for longitudinal and torsional ultrasonic vibration velocities; ; E uc Represents a given ultrasonic field energy. E vc This indicates the flutter energy that can be suppressed under the action of the ultrasonic field. Based on flutter energy With ultrasonic vibration energy The relationship between ultrasonic vibration energy and flutter energy can be expressed as follows: ; in, f u Indicates the frequency of ultrasonic vibration; k v This is the correlation coefficient between ultrasonic vibration energy and robot flutter energy. .

[0012] In some embodiments, based on the mapping relationship between ultrasonic vibration energy and flutter energy, the suppressed flutter energy of ultrasonic vibration is introduced into the mapping relationship during actual processing to calculate the power output required by the ultrasonic power supply. P a , represented as: ; in, E PE Indicates the current ultrasonic power supply power. P el The ultrasonic vibration energy that has been suppressed under the action; E S This represents the current robot processing chatter energy after chatter suppression.

[0013] In some embodiments, the output power of the ultrasonic power supply is adjusted from the current value to... P a The values ​​are used to sequentially suppress chatter in the robot processing system.

[0014] On the other hand, the present invention also provides a robot machining chatter active suppression system based on ultrasonic field energy, for performing a robot machining chatter active suppression method based on ultrasonic field energy, comprising: The data acquisition unit is used to acquire acceleration and cutting force signals during the robot's machining process; The frequency processing unit is used to perform spectrum analysis on the acceleration signal and identify the chatter frequency when the robot processing system experiences chatter. The control unit is used to control the ultrasonic power output of the ultrasonic processing system based on the current chatter energy of the robot processing system and the mapping relationship between the chatter energy and ultrasonic vibration energy of the robot processing system.

[0015] On the other hand, the present invention also provides an electronic device, comprising: Processor; and Memory for storing the executable instructions of the processor; The processor is configured to execute an active flutter suppression method for robotic processing based on ultrasonic field energy by executing the executable instructions.

[0016] On the other hand, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for active suppression of flutter in robotic processing based on ultrasonic field energy.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention establishes an analytical model of the chatter frequency, chatter amplitude, and chatter energy of a robot machining system, and constructs a mapping relationship between the chatter energy and ultrasonic vibration energy of the robot system. This enables adaptive control of robot machining stability and solves the problem of vibration suppression in robot machining systems caused by the time-varying characteristics of robot dynamics. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of an embodiment of the present invention for an active flutter suppression method in robotic machining based on ultrasonic field energy.

[0020] Figure 2 This is a schematic diagram of the structure of the robot longitudinal torsional ultrasonic machining system according to an embodiment of the present invention.

[0021] Figure 3 This is a boundary curve diagram of the stability of the robot in longitudinal torsional ultrasonic milling according to an embodiment of the present invention.

[0022] Figure 4 This is a mapping diagram between ultrasonic field energy and real-time flutter energy in an embodiment of the present invention.

[0023] Figure 5 This is an acceleration information diagram of a robot performing ordinary milling machining according to an embodiment of the present invention.

[0024] Figure 6 This is an acceleration signal diagram of a robot longitudinal torsional ultrasonic milling (SRUM-LT) process according to an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0026] This invention identifies the chatter frequency in robot processing and establishes a matching relationship between ultrasonic field energy and chatter energy, which effectively solves the problem of difficulty in suppressing chatter caused by the time-varying characteristics of robot processing dynamics.

[0027] In some embodiments of the present invention, reference is made to Figure 1 A method for active suppression of flutter in robotic machining based on ultrasonic field energy includes the following steps: S1. Constructing a robot machining flutter frequency recognition algorithm During robot machining, changes in pose cause the robot's machining dynamics to exhibit time-varying characteristics, resulting in changes in the machining chatter frequency. Therefore, as... Figure 2 As shown, it is necessary to collect the processing signals of the robot processing system in real time, and determine the chatter frequency through signal analysis, so as to provide a basis for active vibration suppression by ultrasonic field energy.

[0028] S011. An accelerometer and a force sensor are installed on the end effector of the robot machining system to collect time-domain signals during the machining process of the robot machining system in real time, and convert the time-domain signals into array format.

[0029] S012. Perform online processing on the acceleration signal of the robot processing system. Analyze the frequency of a short segment of the signal over a short period of time using a fast Fourier transform, and use this as a real-time frequency estimate of the current signal.

[0030] Let the original signal be S(t). By adding a time window h(t) to the discrete Fourier transform, the acceleration signal is transformed by a short-time Fourier transform to obtain: (1); Taking the Fourier transform of formula (1) yields: (2); In the formula, The transformed time-frequency domain signal represents the change of the signal frequency domain over time.

[0031] Based on formula (2), parameters such as step size, frequency band, window function and window length are set in LabVIEW software to obtain the time spectrum of the signal in the intensity map and convert the result into a single-sided spectrum output.

[0032] S013. Based on the time spectrum, extract the main target frequencies of the robot processing system.

[0033] The acceleration signal during robot processing typically has multiple peaks, and there are non-chatter interference signals in it, so it is necessary to remove the interference terms in the signal.

[0034] The method of this invention uses a bandpass filter to select the required frequency band and a bandstop filter to achieve frequency removal, thereby extracting the main target frequency.

[0035] S2. Establish the mapping relationship between ultrasonic field energy and flutter energy. Reference Figure 1 and Figure 2 After extracting the main target frequencies through acceleration signal spectrum analysis, it is necessary to calculate the ultrasonic vibration energy required to suppress chatter in the robot machining system, and calculate the corresponding current value of the ultrasonic power supply accordingly. The current value is then fed back to the ultrasonic power supply via the computer, laying the foundation for adaptive control of robot machining stability.

[0036] S021. Calculation of chatter energy in robot machining systems.

[0037] The robotic machining system can be represented as a mass-spring-damped system, and the system's chatter energy can be expressed as: (3); in, m Indicates the modal quality of the robot processing system; P This indicates the main target frequency obtained in step S013, namely the flutter frequency; This indicates the amplitude of flutter.

[0038] The modal quality of a robotic machining system can be calculated using the following formula: (4); In the formula, J The Jacobian matrix representing the robot, Describes the inverse of the Jacobian matrix. This represents the transpose of the inverse of the Jacobian matrix. k θj ( j =1,2,3…6) represents the joint stiffness of the robot, j This indicates the sequence number of the robot's motion joints.

[0039] The amplitude of chatter is difficult to measure directly using existing methods. The method of this invention uses cutting force for calculation. (5); In the formula, F RT This represents the cutting force theoretically calculated after the machining parameters are determined. F ST This represents the cutting force obtained from experimental measurements; the difference between the two is the dynamic cutting force.

[0040] S022, Ultrasonic Vibration Energy E u The calculation.

[0041] Within a quarter of the cycle of the ultrasonic vibration energy wave, the product of the work done by the electrical energy of the ultrasonic generator in the ultrasonic processing system and the energy conversion efficiency is the kinetic energy of the ultrasonic vibration.

[0042] According to the law of conservation of energy, their relationship can be expressed as: (6); In the formula, M e This indicates the effective mass of the tool held at the end of the ultrasonic scalpel holder. P e The power of the ultrasonic power supply; v z and v t Indicates the rate of longitudinal ultrasonic vibration and torsional ultrasonic vibration; T u Indicates the period of ultrasonic vibration; η u The energy conversion efficiency of an ultrasonic processing system can be calculated using the following formula: (7); here, v zd and v td This represents the theoretical design values ​​for the longitudinal ultrasonic vibration and torsional ultrasonic vibration rates of the ultrasonic processing system.

[0043] S023. Establish the mapping relationship between ultrasonic vibration energy and flutter energy.

[0044] In the method of this invention, in order to characterize the mapping relationship between flutter energy and ultrasonic vibration energy, an energy ratio is used. γ v Introduced: (8); Further simplification of formula (8) yields the relationship between ultrasonic power supply, ultrasonic vibration frequency, and robot flutter energy, expressed as: (9); (10); In the formula, f u Indicates the frequency of ultrasonic vibration. k v The correlation coefficient between ultrasonic vibration energy and robot flutter energy is given by the energy ratio γ. v Energy conversion efficiency of ultrasonic processing systems η u Related to this. Among them, the energy ratio is γ. v It can be calculated using the following formula: (11); here, E uc Represents a given ultrasonic field energy. Evc This indicates the flutter energy that can be suppressed under the action of the ultrasonic field.

[0045] Figure 3 As shown, in the field of robotic machining, the chatter stability boundary curve of longitudinal torsional ultrasonic machining describes the relationship between machining parameters and machining stability, which demonstrates the machining capability of the robot.

[0046] The machining parameters on the curve represent the maximum parameters that the robot can achieve to maintain a stable machining state. Under the influence of ultrasonic energy, the stability of robot machining is significantly improved.

[0047] By selecting parameters on the chatter stability boundary curve of the robot's longitudinal torsional ultrasonic machining, a normal machining experiment was conducted (with the ultrasonic power off). The vibration acceleration and cutting force at the robot's end were measured, and the robot's vibration energy E was calculated using formula (3). vc And the energy ratio γ is calculated according to formula (11). v The value of .

[0048] S3. Design a workflow for actively suppressing chatter in robotic machining using ultrasonic field energy. Formula (9) establishes the mapping relationship between ultrasonic vibration energy and flutter energy. In actual processing, the flutter energy that has been suppressed by ultrasonic vibration should be considered. Therefore, formula (9) can be further expressed as: (12); In the formula, E PE Indicates the current ultrasonic power supply power. P el The ultrasonic vibration energy that has been suppressed under the action, E S This represents the chatter energy measured in actual robot processing, indicating that current ultrasonic field energy is insufficient to suppress chatter during robot processing. E PE and E S The value is used to calculate the required output power of the ultrasonic power supply. P a .

[0049] Based on the chatter frequency identification in step S1 and the mapping relationship between ultrasonic field energy and robot machining stability established in steps S2 and S3, the workflow for actively suppressing chatter in robot machining using ultrasonic field energy is determined. The specific workflow is as follows: S031. Conduct robot machining experiments and collect acceleration and cutting force signals during the robot machining process; S032. Perform spectrum analysis on the acceleration signal as per step S1 to determine if the robot machining system is experiencing chatter. If chatter occurs, identify the primary target frequency, i.e., the chatter frequency. P ; S033. Calculate the theoretical cutting force and the actual measured cutting force based on the machining parameters, and calculate the chatter amplitude using formula (5). Q ; S034. Based on the real-time measured chatter frequency and chatter amplitude, the chatter energy of the robot machining system is calculated using formula (3). E S ; S035, Flutter energy E S Substituting the value into formula (12), based on the correlation coefficient... k v and ultrasonic vibration frequency f u The value is used to calculate the required output power of the ultrasonic power supply. P a ; S036, will P a The value is transmitted to the ultrasonic power supply, which then converts the power from the current value. P el Adjust to target value P a To achieve chatter suppression in robotic machining systems; S037. Repeat the above process steps to achieve active suppression of chatter in the robot processing system based on ultrasonic field energy until the processing is completed.

[0050] By establishing analytical models of chatter frequency, chatter amplitude, and chatter energy in a robot machining system, and constructing a mapping relationship between chatter energy and ultrasonic vibration energy, adaptive control of robot machining stability was achieved, solving the problem of vibration suppression in robot machining systems caused by the time-varying characteristics of robot dynamics.

[0051] The process of actively suppressing chatter in robotic machining using the method of the present invention will be described in detail below with reference to specific embodiments.

[0052] This embodiment uses the KUKA KR500 R2830 MT / FLR robot as an example to illustrate the active suppression of chatter during longitudinal torsional ultrasonic machining. Figure 2 This is a schematic diagram of a robot longitudinal torsional ultrasonic machining system.

[0053] Table 1 shows the dynamic parameters of the robot's longitudinal torsional ultrasonic machining system, and Table 2 shows the cutting force coefficients for robot longitudinal torsional ultrasonic milling. q It is an exponential constant.

[0054] Table 1 Modal parameters of the robot's longitudinal torsional ultrasonic milling system

[0055]

[0056] Table 2 Cutting force coefficients for longitudinal torsional ultrasonic milling by robots

[0057]

[0058] The ultrasonic vibration frequency of the ultrasonic processing system used in this embodiment is 30kHz, the ultrasonic power supply is 7W, the longitudinal ultrasonic vibration amplitude is 8μm, and the torsional vibration amplitude is 5.3μm.

[0059] Based on the parameters in Tables 1 and 2 and the ultrasonic vibration parameters, the stability lobe diagram of the robot's longitudinal torsional ultrasonic milling was solved using the fully discrete method. The machining parameters on the stability lobe diagram were selected to carry out robot milling experiments, and acceleration and cutting force signals were collected.

[0060] The energy ratio γ is calculated using formula (11). v The value is 0.00042.

[0061] Meanwhile, the ultrasonic processing equipment used in this embodiment has an energy conversion efficiency of 50.91%, therefore the correlation coefficient between ultrasonic vibration energy and robot flutter energy is... k v The value of can be obtained by solving formula (10), which is 0.0033.

[0062] From formula (9), the relationship between the ultrasonic power, ultrasonic vibration frequency, and suppressable chatter energy of the robot longitudinal torsional ultrasonic machining system is as follows: Figure 4 As shown.

[0063] according to Figure 4 The relationship between the ultrasonic power supply output power and the suppressable chatter energy is shown. Experimental research on longitudinal torsional ultrasonic milling of robots is carried out. The processing parameters are as follows: aluminum alloy plate (Al7075-T7) with dimensions of 150mm×80mm×5mm, feed rate of 60mm / min, spindle speed of 2200r / min, axial depth of cut of 0.5mm, carbide cutting tool with a diameter of 6mm.

[0064] During conventional milling of aluminum alloys by a robot and ultrasonic torsional milling of aluminum alloys by a robot, the changes in acceleration signals are as follows: Figure 5 and Figure 6 As shown.

[0065] It can be observed that without active chatter suppression using ultrasonic field energy, the robot machining system experiences significant fluctuations as the robot's machining pose changes continuously, such as... Figure 5As shown; under the same machining parameters, when performing longitudinal torsional ultrasonic milling using a robot, the robot machining process remains stable under the active vibration suppression effect of the ultrasonic field energy, as... Figure 6 As shown in the figure. This demonstrates that the ultrasonic field energy-based active vibration suppression method proposed in this invention can achieve adaptive control of robot processing stability.

[0066] On the other hand, the present invention also provides a robot machining chatter active suppression system based on ultrasonic field energy, for performing a robot machining chatter active suppression method based on ultrasonic field energy, comprising: The data acquisition unit is used to acquire acceleration and cutting force signals during the robot's machining process; The frequency processing unit is used to perform spectrum analysis on the acceleration signal and identify the chatter frequency when the robot processing system experiences chatter. The control unit is used to control the ultrasonic power output of the ultrasonic processing system based on the current chatter energy of the robot processing system and the mapping relationship between the chatter energy and ultrasonic vibration energy of the robot processing system.

[0067] On the other hand, the present invention also provides an electronic device, comprising: Processor; and Memory for storing the executable instructions of the processor; The processor is configured to execute an active flutter suppression method for robotic processing based on ultrasonic field energy by executing the executable instructions.

[0068] On the other hand, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for active suppression of flutter in robotic processing based on ultrasonic field energy.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for active suppression of chatter in robotic machining based on ultrasonic field energy, characterized in that, Includes the following steps: Acquire acceleration and cutting force signals during robot machining; Spectral analysis of acceleration signals is performed to identify the chatter frequency when chatter occurs in the robot machining system; Calculate the chatter amplitude of the robot machining system based on the theoretical cutting force and the actual measured cutting force; Calculate the current chatter energy of the robot machining system based on the chatter frequency and chatter amplitude; Establish a mapping relationship between the flutter energy and ultrasonic vibration energy of the robot machining system, and determine the power output required by the ultrasonic power supply based on the current flutter energy of the robot machining system.

2. The method for active suppression of chatter in robotic machining based on ultrasonic field energy according to claim 1, characterized in that, The steps for identifying the chatter frequency when a robotic machining system experiences chatter include: Real-time acquisition of time-domain signals during the machining process of the robot machining system, and conversion of the time-domain signals into array format; The acceleration signal of the robot processing system is processed online. The frequency of a short segment of the signal is analyzed by fast Fourier transform and used as a real-time frequency estimate of the current signal to obtain the time spectrum of the signal. The result is then converted into a single-sided spectrum output. The main target frequency of the robot processing system is obtained by extracting the time spectrum, which is the chatter frequency.

3. The method for active suppression of chatter in robotic machining based on ultrasonic field energy according to claim 1, characterized in that, chatter amplitude of robotic machining system Represented as: ； in, F RT This represents the theoretical cutting force calculated based on the machining parameters; F ST This represents the cutting force measured experimentally. J The Jacobian matrix representing the robot; The inverse of the Jacobian matrix is ​​represented by . This represents the transpose of the inverse of the Jacobian matrix; k θj ( j =1,2,3…6) represents the joint stiffness of the robot, j This indicates the sequence number of the robot's motion joints.

4. The active flutter suppression method for robotic machining based on ultrasonic field energy according to claim 3, characterized in that, Current chatter energy of the robotic machining system Represented as: ； in, m Indicates the modal quality of the robot processing system; P Indicates the flutter frequency; Indicates the flutter amplitude value; 。 5. The method for active suppression of chatter in robotic machining based on ultrasonic field energy according to claim 4, characterized in that, The steps to establish the mapping relationship between the chatter energy and ultrasonic vibration energy of a robotic machining system include: Establish flutter energy With ultrasonic vibration energy The relationship between them is represented as: ； Where, γ v Indicates the energy ratio; P e The power of the ultrasonic power supply; T u Indicates the period of ultrasonic vibration; η u The energy conversion efficiency of the ultrasonic processing system; ;v z and v t The velocity of longitudinal and torsional ultrasonic vibrations is represented by v. zd and v td Represents the theoretical design values ​​for longitudinal and torsional ultrasonic vibration velocities; ; E uc Represents a given ultrasonic field energy. E vc This indicates the flutter energy that can be suppressed under the action of the ultrasonic field. Based on flutter energy With ultrasonic vibration energy The relationship between ultrasonic vibration energy and flutter energy can be expressed as follows: ； in, f u Indicates the frequency of ultrasonic vibration; k v This is the correlation coefficient between ultrasonic vibration energy and robot flutter energy. .

6. The method for active suppression of chatter in robotic machining based on ultrasonic field energy according to claim 5, characterized in that, Based on the mapping relationship between ultrasonic vibration energy and flutter energy, the suppressed flutter energy of ultrasonic vibration is introduced into the mapping relationship during actual processing to calculate the power output required by the ultrasonic power supply. P a , represented as: ； in, E PE Indicates the current ultrasonic power supply power. P el The ultrasonic vibration energy that has been suppressed under the action; E S This represents the current robot processing chatter energy after chatter suppression.

7. The active flutter suppression method for robotic machining based on ultrasonic field energy according to claim 1 or 6, characterized in that, Adjust the output power of the ultrasonic power supply from the current value to P a The values ​​are used to sequentially suppress chatter in the robot processing system.

8. A robotic flutter active suppression system based on ultrasonic field energy, characterized in that, The method for actively suppressing chatter in robotic machining based on ultrasonic field energy, as described in any one of claims 1-7, comprises: The data acquisition unit is used to acquire acceleration and cutting force signals during the robot's machining process; The frequency processing unit is used to perform spectrum analysis on the acceleration signal and identify the chatter frequency when the robot processing system experiences chatter. The control unit is used to control the ultrasonic power output of the ultrasonic processing system based on the current chatter energy of the robot processing system and the mapping relationship between the chatter energy and ultrasonic vibration energy of the robot processing system.

9. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the active flutter suppression method for robotic processing based on ultrasonic field energy according to any one of claims 1-7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the active flutter suppression method for robotic processing based on ultrasonic field energy as described in any one of claims 1-7.

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