Research On Vibration In Industrial Robot Milling Processing

With the continuous development of industrial robot application technology,how to achieve high precision and high efficiency of robot machining has become the main research content in the current industrial robot cutting application.For industrial robot due to insufficient rigidity,produces in the process of milling robot cutting deformation and vibration,which reduces the processing error and machining quality problem of robot,this paper takes MOTOMAN UP50 robot as the research object,build the virtual prototype model of the robot,the kinematics characteristics of the virtual prototype,the dynamic characteristics and vibration characteristic study,and through the simulation analysis of the robot end executor in the process of milling cutter Angle of milling force and the influence of the vibration characteristics.The main research contents and results of this dissertation are as follows:(1)Research on kinematic characteristics of robots.Taking UP50 milling robot as the research object,firstly,establish its kinematics model,solve its positive and inverse solutions,and carry out positive and inverse solution simulation analysis and verification based on MATLAB.Secondly,the velocity and acceleration of the milling robot and the Jacobian matrix of the robot are studied and analyzed.Finally,the kinematics simulation analysis of the milling robot is carried out based on MATLAB to solve the angular displacement,angular velocity and angular acceleration of each joint.(2)Research on the dynamic characteristics of the robot.On the basis of kinematics,the velocity and acceleration of the connecting rod are analyzed,and the static equilibrium of the connecting rod and the moment of inertia of the rigid body are studied.Secondly,based on the study of the influence of the dynamic state of the milling robot on the milling quality during the milling process,the inverse dynamic equation of the milling robot was established by using the Newton-Euler method.Finally,UP50 milling robot is taken as the research object to verify the correctness of the dynamic equation.(3)Research on vibration characteristics of robot.The UP50 robot is regarded as a fully flexible manipulator.Firstly,the dynamic model of the manipulator system is established by using the assumed mode method.Secondly,the lateral partial differential equation for transverse vibration of the beam is established based on the assumption of the Euler-Bernoulli beam,and the dynamic equation of the manipulator joint is established by the moment of motion theorem of the particle system relative to the moving point.Finally,the vibration frequency is obtained by solving the characteristic equation of the manipulator system.(4)Simulation experiment analysis and verification.Firstly,the simulation experiment is based on the theoretical vibration equation of the manipulator established in the previous part.The correctness of the theoretical vibration equation of the manipulator established is verified by MATLAB theoretical programming and ANSYS simulation experiment analysis.Second,with the milling robot as the research object,according to the provisions of the milling path for milling,in guarantee feed speed,depth,milling cutter diameter milling parameters of a certain case,based on the provisions of the milling path planning in advance good milling Angle changes as the experimental conditions,respectively for the milling force simulation experiment and vibration milling process simulation experiment,its purpose lies in the analysis of robot end executor milling cutter Angle on the milling force and vibration characteristics of the system.In this dissertation,the kinematics,dynamics and vibration characteristics of industrial robot in milling process are analyzed to provide theoretical basis for the vibration control research in the field of industrial robot cutting.