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六自由度气囊抛光机器人模态分析与中频误差抑制

陆锋 王振忠 黄雪鹏 雷鹏立

陆锋, 王振忠, 黄雪鹏, 等. 六自由度气囊抛光机器人模态分析与中频误差抑制[J]. 强激光与粒子束. doi: 10.11884/HPLPB202234.220013
引用本文: 陆锋, 王振忠, 黄雪鹏, 等. 六自由度气囊抛光机器人模态分析与中频误差抑制[J]. 强激光与粒子束. doi: 10.11884/HPLPB202234.220013
Lu Feng, Wang Zhenzhong, Huang Xuepeng, et al. Modal analysis and mid-spatial-frequency errors suppression of 6-DOF bonnet polishing robot[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202234.220013
Citation: Lu Feng, Wang Zhenzhong, Huang Xuepeng, et al. Modal analysis and mid-spatial-frequency errors suppression of 6-DOF bonnet polishing robot[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202234.220013

六自由度气囊抛光机器人模态分析与中频误差抑制

doi: 10.11884/HPLPB202234.220013
基金项目: 深圳市科技计划项目(JCYJ20180306172924636)
详细信息
    作者简介:

    陆锋:陆 锋,19920191151156@stu.xmu.edu.cn

    通讯作者:

    王振忠,wangzhenzhong@xmu.edu.cn

  • 中图分类号: TP242

Modal analysis and mid-spatial-frequency errors suppression of 6-DOF bonnet polishing robot

  • 摘要: 针对六自由度串联式关节机器人气囊抛光系统因刚度不足引起的加工振动以及引入中频误差的问题,以IRB 6700机器人作为研究对象,基于Ansys Workbench建立模态分析模型,并结合实验分析机器人气囊抛光系统工况频带内动态特性,实验与仿真结果共同表明,机器人气囊抛光系统在工况频带至少存在5阶模态,且共振时机器人末端抖动幅值为mm级,机器人加工严重受限。同时针对机器人气囊抛光系统先进光学元件抛光工艺应用,设计一种阻尼抑振气囊工具头,与普通气囊工具头进行定点抛光与整面抛光对比实验。结果表明:抑振气囊头定点抛光斑粗糙度与频谱幅值普遍低于普通气囊工具头,引入的中频误差较一般气囊工具头低40%,抛光优化效果显著。
  • 图  1  机器人气囊抛光系统

    Figure  1.  Robot bonnet polishing system

    图  2  工业机器人各阶模态振型

    Figure  2.  Mode shapes of the industrial robot

    图  3  脉冲激励法模态实验传感器布点

    Figure  3.  Sensor placement in pulse excitation method modal experiment

    图  4  机器人双姿态各测点加速度响应频谱

    Figure  4.  Acceleration response spectrum of each measuring point of the robot in dual postures

    图  5  工业机器人振动测量现场

    Figure  5.  Industrial robot vibration measurement site

    图  6  工业机器人变转速空转各关节点位移响应

    Figure  6.  Displacement response of each joint point of an industrial robot at variable speed idling

    图  7  弹性元件仿真模型

    Figure  7.  Elastic component simulation model

    图  8  不同规格弹性元件仿真耗能值

    Figure  8.  Simulated energy consumption values of elastic components of different specifications

    图  9  气囊工具头立体结构图

    Figure  9.  Three-dimensional structure diagram of bonnet tool

    图  10  自由振动衰减曲线

    Figure  10.  Free vibration curves

    图  11  普通气囊与抑振气囊定点抛光RMS对比

    Figure  11.  Comparison of fixed-point polishing RMS between ordinary bonnet tool and vibration suppression bonnet tool

    图  12  普通气囊与抑振气囊定点抛光斑频谱对比

    Figure  12.  Comparison of spectra of fixed-point polishing spots between ordinary bonnet tool and vibration suppression bonnet tool

    图  13  原始气囊工具头与抑振气囊工具头抛光效果对比

    Figure  13.  Comparison of the polishing effect of the original bonnet tool and the vibration suppression bonnet tool

    图  14  原始气囊整面抛光与抑振气囊整面抛光Y向中频误差对比

    Figure  14.  Comparison of the Y-direction mid-frequency error between the whole surface polishing of the original bonnet tool and the whole surface polishing of the vibration suppression bonnet tool

    表  1  气囊抛光系统参数

    Table  1.   Bonnet polishing system parameters

    scope of work/mcarrying capacity/kgrepeatability/mmrepeat path accuracy/mmtotal mass/kg
    2.62000.050.101170
    下载: 导出CSV

    表  2  仿真材料参数

    Table  2.   Simulation material parameters

    materialdensity/(kg/m3)Young’s modulus/MPaPoisson’s ratio
    gray cast iron72001.1e110.28
    aluminum alloy27707.1e100.33
    concrete23003e100.18
    sand20001e80.25
    60Si2MnA77402.06e110.29
    下载: 导出CSV

    表  3  IRB 6700关节刚度

    Table  3.   IRB 6700 joint stiffness

    joint1joint2joint3joint4joint5joint6
    joint stiffness/(mm∙N/rad)2.53×1099.31×1086.52×1089.12×1074.36×1072.34×107
    下载: 导出CSV

    表  5  Mooney-Rivilin超弹性本构模型

    Table  5.   Mooney-Rivilin hyperelastic constitutive model

    material constant/Pa
    C10C01
    2.45×106−9.58×105
    下载: 导出CSV

    表  6  3阶广义麦克斯韦粘弹性本构模型

    Table  6.   The third-order generalized Maxwell viscoelastic constitutive model

    dimensionless material constantrelaxation time/s
    g1g2g3τ1τ2τ3
    0.102930.570670.054790.029050.000820.78611
    下载: 导出CSV

    表  7  原始气囊工具头与抑振气囊工具头抛光效果对比

    Table  7.   Comparison of the polishing effect of the original bonnet tool and the vibration suppression bonnet tool

    comparison parametersoriginary bonnetvibration suppression bonnetrelative reduction rate
    PV/μmbefore polishing2.8662.000
    after polishing2.8091.948
    PSD/(mm·nm2)before polishing40%
    after polishing316.9187.5
    RMS/nmbefore polishing540.773395.562
    after polishing534.043382.256
    下载: 导出CSV
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  • 收稿日期:  2022-01-06
  • 录用日期:  2022-06-14
  • 修回日期:  2022-06-02
  • 网络出版日期:  2022-06-17

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