Research On Robot-based Milling Modeling And Processing Characteristics

As one of the new types of subtractive manufacturing methods,robotic milling has unique advantages in processing super-large components such as fan blades,spacecraft cylinders,and ship propellers.However,the low stiffness of the robot due to its own open-chain structure will affect the milling process,making it prone to vibration and poor milling accuracy.However,the industrial robot has low cost,can perform mobile processing,has a large processing range,and can perform collaborative processing with multiple robots.High efficiency and small footprint.Therefore,robotic milling has gradually become one of the research hotspots of scholars at home and abroad.Based on the IRB2400 industrial robot,this thesis studies the milling processing of the milling robot.The specific research contents are as follows:Firstly,the kinematic theory of milling robot is studied in detail.The structure of the milling robot is analyzed,and the motion diagram of the milling robot is obtained.The D-H kinematics model is established according to the kinematic diagram to obtain the D-H parameters,the forward and inverse kinematics equations are deduced,and the Jacobian matrix is solved.Secondly,the working space of the milling robot is analyzed by the Monte Carlo method,and its visual working space is obtained in Matlab.Combined with the specific working conditions,the milling cutter feed rate and running trajectory of the milling robot are planned,and the stable running speed,acceleration and controllable running path are obtained.Thirdly,the 3D model of the milling robot is established in Solid Works,the dynamics model of the milling robot is established in Adams and dynamic simulation is performed to verify the correctness of the milling cutter speed planning,and the relationship between the driving force of the milling robot and the joint force is obtained.The driving function is applied to the milling robot,and the kinematic characteristics of the milling robot are obtained.Finally,the milling force in the working process is solved,and the static stiffness and modal analysis of the milling robot are carried out based on the milling force,and the wrist part is obtained as the weak part of stiffness.The wrist parts are flexibly processed,the rigid-flexible coupling milling robot model is established,and the kinematic characteristics analysis of the rigid-flexible coupling milling robot is carried out.The dynamic characteristics of the stiffness model and the rigid-flexible coupling model are compared to provide a reference for the milling robot to reduce errors.