Research On Compensation Method For Hole Diameter Error Of Helical Milling Base On Hybrid Robot

As a new type of industrial robots,hybrid robots have become increasingly prominent in aeronautics manufacturing industry.The research on which hybrid robot is used to helical milling large diameter and large thickness hole of difficult processing aviation materials is still in the exploratory stage in China.And its machining performance and machining accuracy are not clear.The study based on the TriMule hybrid robot platform,focuses on hybrid robot machining titanium alloy helical milling quality,regularity and characteristics of the elastic deformation of the hybrid robot during helical milling processing.Focuses on the variation law of hole diameter error and the error compensation method,then carry out experiments to achieve error compensation.The main contents include the following aspects:Through the comparison and analysis of the titanium alloy milling quality of hybrid robot and the traditional five-axis machine,the processing characteristics of the hybrid robot and the main factors that affect the machining precision of the helical milling of the hybrid robot were understand and determine.The roughness prediction model of titanium alloy hole wall was established.Then orthogonal test and the hole wall roughness prediction model were used to optimize the helical milling parameters of titanium alloy for hybrid robot.Simulation software,SAMCEF,was used to simulate the elastic deformation of hybrid robot in the helical milling process.The method of discrete analysis of cutter path was used to simulate the constant force and variable force of the posture of hybrid robot which is discrete.The influence of the elastic deformation on the precision of the hole of the hybrid robot are confirmed by researching the elastic deformation law and characteristics of different parts of hybrid robot.The continuous machining experiments of titanium alloy helical milling of hybrid robot were carried out to determine the variation of the hole diameter with the depth of the hole,and establish the hole diameter error model.The error compensation method of the titanium alloy helical milling for hybrid robot was researched,and the error compensation verifies experiment was carried out.The correctness and feasibility of the error compensation model and method were confirmed,and the H9 accuracy level can be reached in the titanium alloy helical milling of the hybrid robot.The research contents of this paper provide an important reference for the further research on the hole making of hybrid robot and the application of hybrid robot in the aeronautics manufacturing industry...