The Study Of Vibration Compensation Technology In Robot Drilling

Compared with the machine tools, the stiffness of industrial robots is lower.Therefore, in the drilling of industrial robots, vibration occurred easily. The vibrationcan generate a slipping effect when the drilling tool touches the workpiece, which affectthe quality of the drilled holes. This paper presents a method based on three-dot-forcefeedback, which can suppress the Surface Contact Slipping (SCS).The method makes feedback to the robot kinematics using three force sensors,keeping the drilling tool normal with the workpiece surface, to suppress SCS. Throughthe simulation analysis, the method can effectively improve the quality of the drilledholes and fulfill the aim of drilling.According to the domestic and foreign, strengths and weaknesses analysis has avariety of methods, Chapter1proposed three force sensor surface slip suppressiontechnique. Chapter2, analysis the general drilling process and the traditional machinedata,and give the drilling process requirements. Analysis vibration cause,and point outthe key technology of robot drilling. Chapter3designs of special robot drilling tool,namely RDT (Robot Drilling Test) relying on Shenyang Institute of Automation projectand existing equipment, and explains how to select appropriate cutting parameters tosuppress the vibration in the vertical state.Chapter4analyzes the mathematical model of the vibration, export different forceon three force sensors, gives the feedback controller model, combined with the robotkinematic equations, write robot program block according to the feedback process.Chapter6validates this method through the experiment, how wo mark the hole number, how to judge the compensation amount, the analysis method of the experimental results.