某型飞机主起落架交点孔机器人镗孔加工系统稳定性研究

发布时间：2018-04-19 16:51

本文选题：压脚 + 工业机器人　；参考：《浙江大学》2015年硕士论文

【摘要】：采用工业机器人与专用的末端执行器组合在装配现场解决大型飞机主起落架交点孔镗孔精加工问题是一种新的技术思路。然而,由于六自由度工业机器人结构刚度低引起的加工颤振现象限制了主轴转速和镗削深度等加工工艺参数的设定范围,降低了机器人镗孔系统的加工质量与效率。在加工对象与末端执行器之间引入压脚装置是抑制加工颤振的重要手段。本文以此为背景研究机器人镗孔加工系统的稳定性,重点针对压脚机构对提高机器人镗孔系统稳定性的影响规律进行理论分析和实验研究。本文主要内容如下：第一章综述机器人制孔系统的国内外研究应用和切削加工颤振问题的研究现状。第二章针对装配现场主起落架交点孔加工要求,构建一套工业机器人镗孔加工系统。在描述系统总体结构和控制系统结构基础上阐述各个组成部分的机械结构和功能特点,并根据加工对象特点建立机器人镗孔加工工艺流程。第三章通过对加工系统合理简化分别建立工业机器人和气动压脚系统的数学模型,进而建立整体系统动力学模型,分析压脚作用对系统动力学特性的影响。第四章建立机器人镗孔系统的稳定性分析模型。通过对镗削过程镗削厚度、动态镗削力的建模,结合机器人镗孔系统动力学模型,根据再生颤振原理得到加工系统稳定性的解析条件,绘制稳定性叶瓣图研究加工参数的稳定区间。第五章设计机器人镗孔实验系统,通过实际镗孔加工实验验证机器人镗孔系统在不同压脚压力下的加工稳定性,表明合理的压脚压力可提高稳定切深,拓展机器人镗孔加工稳定区域,有效避免加工颤振。第六章总结,并对有待进一步研究的内容进行展望。
[Abstract]:It is a new technical idea to use industrial robot and special end actuators to solve the problem of boring holes at the intersection point of the main landing gear of large aircraft in the assembly site.However, the machining flutter caused by low structural stiffness of six-DOF industrial robot limits the setting range of machining parameters such as spindle speed and boring depth, and reduces the machining quality and efficiency of the robot boring system.It is an important method to suppress machining chatter by introducing pin pressing device between the machining object and the end actuator.In this paper, the stability of the robot boring system is studied, and the influence of the pin pressing mechanism on the stability of the robot boring system is analyzed theoretically and experimentally.The main contents of this paper are as follows: the first chapter summarizes the research and application of robot hole making system at home and abroad and the research status of cutting chatter problem.In the second chapter, a boring machining system of industrial robot is built according to the requirements of the intersecting hole machining of the main landing gear on the assembly site.On the basis of describing the overall structure of the system and the structure of the control system, the mechanical structure and functional characteristics of each component are described, and the machining process of the robot boring is established according to the characteristics of the machining objects.In the third chapter, the mathematical models of industrial robot and pneumatic pin system are established by reasonably simplifying the machining system, and then the dynamic model of the whole system is established, and the influence of the pin pressing action on the dynamic characteristics of the system is analyzed.In chapter 4, the stability analysis model of robot boring system is established.By modeling the boring thickness and the dynamic boring force in the boring process and combining with the dynamic model of the robot boring system, the analytical conditions of the stability of the machining system are obtained according to the principle of regenerative chatter.The stable leaflet map was drawn to study the stable interval of machining parameters.In the fifth chapter, the robot boring experiment system is designed. The stability of the robot boring system under different pressure is verified by the actual boring experiment. It shows that the reasonable pressure can increase the stable cutting depth.Expand the stable area of robot boring machining, effectively avoid machining chatter.The sixth chapter summarizes and looks forward to the content to be further studied.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V262.4

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