哈尔滨工程大学学报2025，Vol.46Issue(5)：988-996,9.DOI:10.11990/jheu.202309030
骨铣削参数对机器人颤振稳定性影响与优化
Influence and optimization of bone milling parameters on robot chatter stability
摘要
Abstract
To address the issue of chatter in orthopedic surgical robots during milling,an optimization method was proposed to enhance surgical safety and quality.Based on regenerative chatter theory,a dynamic milling force mod-el was developed,and a chatter stability domain model was constructed using the zero-order frequency domain method.Additionally,a lobe diagram was created to analyze the effects of milling parameters in greater depth.By optimizing the bone removal rate,the optimal milling parameters,determined through experimental validation,sig-nificantly reduced chatter and improved the stability and efficiency of the surgery.This research provides a theoreti-cal foundation for ensuring the safety of orthopedic surgical robots in clinical applications and offers practical guid-ance for optimizing milling processes.关键词
骨科手术机器人/再生型颤振/动态铣削力模型/零阶频域法/颤振稳定性/叶瓣图/铣削参数/优化Key words
orthopedic surgical robot/regenerative chatter/dynamic milling force model/zero-order frequency do-main method/chatter stability/lobe diagram/milling parameter/optimization分类
机械制造引用本文复制引用
田和强,安金昌,马洪强,孟德宝..骨铣削参数对机器人颤振稳定性影响与优化[J].哈尔滨工程大学学报,2025,46(5):988-996,9.基金项目
国家自然科学基金项目(52275496) （52275496）
山东省自然科学基金项目(ZR2020MF099). （ZR2020MF099）
