动力学模态解耦的工业机器人加工颤振规避方法OA

To address the issue of chatter avoidance in robotic machining processes,a method was pro-posed to avoid chatters in industrial robot machining based on dynamics modal decoupling.Firstly,dynam-ics differential equations were established for the robot at various orientations within a specific location.Sec-ondly,stability analyses were conducted separately for regenerative chatter and mode-coupling chatter,al-lowing the reachable robot orientations to be classified as either stable or chatter-prone.Thirdly,stability criteria for both regenerative chatter and mode-coupling chatter were derived to identify orientations where neither type of chatter occured.Based on these stability criteria,stable and chatter orientations were se-lected,and hammering experiments,as well as robotic machining chatter avoidance tests,were carried out.Experimental results validate the effectiveness of the proposed method.