Study On Vibration Suppression Of Thin-wall Parts Machined By 6R Manipulator

Because of its light weight,high strength and excellent overall performance,thin-walled parts have been gradually applied to various engineering fields.Compared with the CNC,the mechanical arm has a large working space,and workpiece clamping is easy to implement and the price is relatively cheap.This paper will use the manipulator to process thin-walled parts.In order to improve the quality of the thin-walled parts,three methods are proposed to suppress the vibration in the process.At the same time,the feasibility and effectiveness of the above methods are verified by a large number of experiments.The main contents of the paper are as follows.The optimum method of machining parameters for vibration suppression of manipulator is presented.Machining parameters include grinding depth,feed speed,grinding knife diameter,grinding speed,etc.Through a large number of single factor comparison experiments,the relationship between each factor and the processing vibration is obtained.At the same time,a series of verification experiments are designed to demonstrate the above results.Finally,the optimization method of processing parameters is concluded.The optimum method of processing stiffness for vibration suppression of manipulator is presented.Machining stiffness of manipulator is a function of attitude.The stiffness is evaluated by using the stiffness ellipsoid model as the stiffness evaluation index.The relationship between machining stiffness and vibration of manipulator was verified by several experiments.Finally,the method of machining stiffness of the manipulator is given.The design method of input shaping device for active vibration suppression of mechanical arm is proposed.As a feedforward control method,the input shaper tool is widely used in the vibration suppression of disturbing structures.The application scenarios and suppression effects of various types of input shaper are also different.According to the modal frequency of the manipulator,ZV,ZVD,ZVDD and El input shaper are designed.In addition,the EI input shaper device for machining thin-walled parts of manipulator is optimized by simulation.In the end,the three kinds of vibration suppression methods of "processing parameters optimization","processing stiffness optimization" and "input molding machine" were applied.And take processing aluminum sheet as an example,The process of suppressing vibration and the effect of vibration suppression are described in detail.