一种机器人铣削颤振抑制用磁流变弹性体吸振器的设计与试验研究

打开文本图片集

中图分类号：TP242.2 文献标志码：A DOI：10.16385/j.cnki.issn.1004-4523.202308003

Abstract：Amagnetorheological elastomer（MRE）vibrationabsorberis designed tosuppress thevibrationof industrialobotic milingiordertosolvetelowfrequencychatterproblem.ThemagnetoreologicaleffectofMREwithdiferentmassratioisstudiedbyusing theuniquerheological characteristicsofMRE.Thenumberof turnsofcoilandthecurrent intheabsorberaredeter minedbyheoreticalcaleulationandnumericalsimulation.ItisfoundthatthedesignedMREabsorberhasfrequencyshiftharacter istics ntherangeof17.35～45.21Hzthroughmodalsimulationandshaking tableswepingexcitationexperiment.Themappingre lationshipbetweennaturalfrequencyofabsorberandcurrentis established，whichisverifiedbyexperiments inthemligproce ofKUKAKR5robot.Theresultsshowthattherobotispronetochateratitslowordernaturalfrequencyunderlowrotational speed machiningconditions，andthechatersuppressionof therobot isrealized byMREabsorber.Compared withthecondition without vibration absorber，the peak-to-peak value of the vibration acceleration in the X direction of the robot spindle is reduced by （204 70.7% ，and the root-mean-square value is reduced by 64.7% after being electrified. The peak-to-peak value in the Y direction is decreased by 54.7% ，and the root-mean-square value is decreased by 49.9% . In addition，the machining surface quality of workpiec es after milling hasalso been significantly improved.

Keywords： industrial robot；MRE vibration absorber;robotic milling；chatter suppression

近年来，工业机器人因其柔性化程度高、工作范围广、易于实现自动化与智能化加工，且较机床有更好的加工适应性，越来越多地被应用于汽车、船舶、航空航天等高端制造领域[1-3]。（剩余21109字）