中国机械工程2026，Vol.37Issue(3)：571-585,15.DOI:10.3969/j.issn.1004-132X.2026.03.007
动力学模态解耦的工业机器人加工颤振规避方法
Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling
摘要
Abstract
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.关键词
机器人加工颤振/颤振规避/模态解耦/再生型颤振/振型耦合型颤振Key words
robotic machining chatter/chatter avoidance/modal decoupling/regenerative chatter/mode coupling chatter分类
信息技术与安全科学引用本文复制引用
郭万金,利乾辉,田玉祥,曹雏清,赵立军,徐明坤,刘孝恒,侯旭栋..动力学模态解耦的工业机器人加工颤振规避方法[J].中国机械工程,2026,37(3):571-585,15.基金项目
国家自然科学基金(52275005) （52275005）
陕西省自然科学基础研究计划(2025JC-QYXQ-027,2025JC-YBMS-619) （2025JC-QYXQ-027,2025JC-YBMS-619）
中央高校基本科研业务费专项资金(300102253201) （300102253201）
中国博士后科学基金(2024M760002) （2024M760002）
安徽省博士后科研项目(2023B675) （2023B675）
安徽省机器视觉检测与感知重点实验室开放基金(KLMVI-2025-HIT-06) （KLMVI-2025-HIT-06）
