CN111673611A - Elastic deformation and vibration suppression method for grinding and polishing of airplane composite component robot - Google Patents
Elastic deformation and vibration suppression method for grinding and polishing of airplane composite component robot Download PDFInfo
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- CN111673611A CN111673611A CN202010452486.8A CN202010452486A CN111673611A CN 111673611 A CN111673611 A CN 111673611A CN 202010452486 A CN202010452486 A CN 202010452486A CN 111673611 A CN111673611 A CN 111673611A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41256—Chattering control
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Abstract
The invention belongs to the field of grinding and polishing of composite member robots, and particularly discloses a method for suppressing elastic deformation and vibration of grinding and polishing of aircraft composite member robots. The method comprises the following steps: designing a first independent variable set and a first dependent variable set; carrying out a multi-parameter combined grinding orthogonal test on the first independent variable group and the first dependent variable group to obtain a nonlinear relation between the grinding force and the material removal amount; the elastic deformation of the robot in the grinding process is controlled by adopting a force-position mixed control strategy of global variable pressure and local constant pressure; and constructing the relation between the optimal rigidity and the attitude in the processing space of the robot, optimizing the processing track of the robot according to the optimal combination and the grinding and polishing processing process parameters after elastic deformation control, and determining the grinding and polishing processing process parameters of the processing area. The invention can realize effective control and vibration suppression of elastic deformation in the grinding and polishing process of the aircraft composite member robot, eliminate the vibration lines of the grinding and polishing process and ensure the quality of the processed surface.
Description
Technical Field
The invention belongs to the field of composite material component robot grinding and polishing processing, and particularly relates to an elastic deformation and vibration suppression method for grinding and polishing processing of an airplane composite material component robot.
Background
The performance requirements of high-end equipment in the fields of aviation, aerospace, energy and the like are higher and higher, such as structure quality reduction, structure efficiency improvement and the like. The carbon fiber composite material (CFRP) has the advantages of light weight, high strength, designable performance, integral manufacture and the like, and becomes a material with great development potential and engineering application prospect. The CFRP is composed of a resin matrix phase and a carbon fiber reinforced phase, not only can retain the main advantages of two-phase materials, but also can complement the performances of the phases, so that the CFRP is associated and cooperated with each other to obtain superior performances which cannot be compared with the original composition phase, such as high modulus, high specific strength, impact resistance, strong vibration absorption and the like.
The performance characteristics of the carbon fiber composite material are highly matched with the structural requirements of the aircraft, so that the application proportion of the carbon fiber composite material in the field of aircraft manufacturing is gradually increased. According to statistics, the using amount of the composite material on the advanced fighter is basically more than 30% of the weight of the airplane matrix structure, the proportion of the composite material of the fifth generation fighter 20 independently developed in China to the composite material of the gunship straight 10 is respectively 40% and 90%, and the application proportion of the composite material is improved to fully indicate that the composite material is converted from the original secondary bearing component (such as a vertical stabilizer, a horizontal tail wing, a rudder, a front fuselage and the like) to the main bearing component (such as a wing, a helicopter rotor wing and the like). Although aircraft manufacturers at home and abroad, such as French airbus, American boeing, Chinese business flight and adult flight, have gradually realized the automatic filament laying, trimming, hole making and spraying process intelligent production of the aviation composite material component, the surface polishing of the aircraft composite material component before spraying generally depends on manual and manual power-assisted operation means at present.
Therefore, in order to meet the requirement of the automatic intelligent production of the aircraft composite member and combine the advantages of the development of the robot technology, the robot grinding and polishing processing technology is gradually applied to the surface grinding and polishing processing process of the aircraft composite member. Due to the unique properties and the laminated structure of the carbon fiber and the epoxy resin which are arranged alternately in soft and hard in the composite material, the force fluctuation of the existing robot grinding and polishing processing technology is large in the processing process, and strong tail end impact load and cutter vibration are easy to generate. And the heat transfer of the composite material is poor, the local overheating can melt the resin or the cutter becomes dull, the processing deformation and vibration are further aggravated, and the surface processing quality of the workpiece is reduced.
Based on the defects and shortcomings of the prior art, a method for suppressing elastic deformation and vibration in grinding and polishing processing of an aircraft composite member robot is urgently needed to be provided in the field, so that the problem that grinding and polishing effects are inconsistent due to the fact that the same process is adopted in the grinding and polishing processing of the aircraft composite member robot is solved.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a grinding and polishing elastic deformation and vibration suppression method for an aircraft composite member robot, wherein an orthogonal test of multi-parameter combination of grinding and polishing of the aircraft composite member robot is constructed by combining the characteristics of the aircraft composite member and the process characteristics of the robot grinding and polishing; secondly, obtaining a relation between pressure and elastic deformation based on a Hertz contact theory, obtaining a relation between grinding force and material removal amount according to a test result, further providing a force-position mixed control strategy of global variable pressure and local constant pressure to control grinding and polishing force, and realizing elastic deformation control and material removal controllability of robot grinding and polishing processing according to the relation between the grinding force and elastic deformation and material removal amount; meanwhile, according to the grinding and polishing processing parameters after elastic deformation control and the optimal rigidity and posture relation in the processing space of the robot, the processing track of the robot is optimized, and the grinding and polishing processing process parameters of the processing area are determined, so that the vibration suppression of the grinding and polishing processing process of the robot is realized. The invention can realize effective control and vibration suppression of elastic deformation in the grinding and polishing process of the aircraft composite member robot, so as to solve the problem of inconsistent grinding and polishing effects caused by the adoption of the same process in the actual grinding and polishing process of the aircraft composite member robot.
In order to achieve the purpose, the invention provides an elastic deformation and vibration suppression method for grinding and polishing of an aircraft composite member robot, which comprises the following steps:
s1, designing a first independent variable group and a first dependent variable group according to the grinding and polishing processing parameters of the aircraft composite member robot;
s2, grinding multi-parameter combination orthogonal test is carried out on the first independent variable group and the first dependent variable group, and test data corresponding to the orthogonal test are obtained;
s3, obtaining a nonlinear relation between the grinding force and the material removal amount according to the test data corresponding to the orthogonal test;
s4, establishing a nonlinear relation between grinding pressure and elastic deformation in the robot machining process according to a Hertz elastic contact theoretical model;
s5, a force-position mixed control strategy of global variable pressure and local constant pressure is adopted to control the grinding force in the robot machining process, meanwhile, the elastic deformation in the robot machining process is controlled according to the nonlinear relation between the grinding pressure and the elastic deformation, the removal amount of materials in the grinding and polishing machining of the aircraft composite material robot is controlled according to the nonlinear relation between the grinding force and the material removal amount, and in this way, the grinding and polishing machining process parameters after the elastic deformation control and the material removal control are obtained;
s6, constructing the relation between the optimal rigidity and the attitude in the robot processing space;
s7, optimizing the robot processing track according to the optimal rigidity and attitude relation in the robot processing space and the grinding and polishing processing process parameters after elastic deformation control and material removal control, determining the optimal grinding and polishing processing process parameters of the processing area, and realizing vibration suppression of the robot grinding and polishing processing process in this way.
More preferably, the first set of arguments in step S1 is a robot grinding response including a grinding force, a machining deformation amount, and the like.
More preferably, step S5 specifically includes the following steps:
s51, giving a target processing point of the composite material component of the airplane;
s52, measuring the curvature change rate C of the neighborhood of the target processing point of the airplane composite member;
s53, calculating the rigidity change rate S of the neighborhood of the target processing point of the airplane composite member;
s54, judging whether the neighborhood of the target processing point of the aircraft composite material member meets the following conditions:
C≤C0，
and S is less than or equal to S0
If so, performing constant-force polishing control on the neighborhood of the target processing point of the aircraft composite member; if not, performing variable pressure grinding control on the neighborhood of the target processing point of the airplane composite member, and controlling the cutter yielding amount according to the nonlinear relation between the grinding pressure and the elastic deformation amount and the nonlinear relation between the grinding force and the material removal amount in the variable pressure grinding process control; in this way, the parameters of the grinding and polishing process after elastic deformation control and material removal control are obtained;
wherein, C0Is a threshold rate of curvature change, S0Is the rigidity change rate threshold value.
More preferably, step S6 specifically includes the following steps:
s61, selecting different robot pose target points in a plurality of groups of robot processing spaces;
s62, establishing a Cartesian dynamic stiffness model of the robot at the current position according to the robot pose target point;
s63, evaluating and calculating the rigidity performance of the robot at the pose target point of the robot according to the Cartesian dynamic rigidity model of the robot and the scalar measurement of the rigidity matrix;
s64, constructing the relation between the optimal rigidity and the attitude in the robot processing space according to the rigidity performance evaluation result of the robot.
Preferably, in step S5, the optimal stiffness-to-attitude relationship in the robot processing space is described in a graphical manner.
More preferably, step S7 specifically includes the following steps:
s71, designing a second independent variable group and a second dependent variable group according to the grinding and polishing process parameters after elastic deformation control;
s72, carrying out multi-parameter combined grinding orthogonal test on the second independent variable group and the second dependent variable to obtain test data corresponding to the orthogonal test;
s73 obtaining an optimal parameter combination according to the test data corresponding to the orthogonal test;
s74, according to the optimal rigidity and attitude relation and the optimal parameter combination in the robot processing space, a specific algorithm is adopted to rapidly plan the processing path track of the robot so as to determine the grinding and polishing processing process parameters of the processing area, and in this way, the vibration suppression of the grinding and polishing processing process of the robot is realized.
Preferably, the second independent variable group comprises geometrical characteristics of the curved surface of the composite material member of the airplane, grinding and polishing process parameters and the like, and the second dependent variable group comprises average vibration amplitude and the like.
As a further preferred, in step S64, the specific algorithm is a DFP quasi-newton method.
More preferably, step S74 specifically includes the following steps:
s741 constructs an algorithm model based on DFP quasi-Newton;
s742 taking any point P on the robot machining path as an initial iteration point, and inputting a DFP-based quasi-Newton algorithm model;
s743 calculates the iterative stiffness T of Point P(k)；
S744 calculating a search direction u of the point P(k)；
S745 iterative stiffness T according to point P(k)And search direction u(kCalculating and acquiring pose point P meeting maximum pose rigidity of robot(k)；
S746 judging the pose point P(k)Whether the relation between the optimal rigidity and the attitude in the robot machining space is met or not is judged, and if the relation is met, an algorithm model based on DFP quasi-Newton is outputThe optimized point P' continues to step S747, otherwise, the point P is set(k)As a new initial iteration point P, go to step S742;
s747, determining the curvature and the rigidity of the processing area D on the aircraft composite member corresponding to the point P';
s748 determining grinding and polishing process parameters of the processing area D according to the optimal rigidity and attitude relation and the optimal parameter combination in the processing space of the robot;
s749 repeats steps S742 to S748 to suppress vibration in the polishing process of the robot.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention carries out multi-parameter combined orthogonal test on the grinding and polishing process of the robot for the composite material members of the airplane; secondly, obtaining a relation between pressure and elastic deformation based on a Hertz contact theory, obtaining a relation between grinding force and material removal amount according to a test result, further analyzing the test result to obtain a nonlinear relation between the grinding force and the material removal amount, finally providing a force-position mixed control strategy of global variable pressure and local constant pressure to control grinding and polishing force, and realizing elastic deformation control and material removal controllability of grinding and polishing processing of the robot according to the relation between the grinding force and elastic deformation as well as material removal amount; meanwhile, according to the grinding and polishing processing parameters after elastic deformation control and the optimal rigidity and posture relation in the processing space of the robot, the processing track of the robot is optimized, the grinding and polishing processing process parameters of the processing area are determined, and in this way, the vibration suppression of the grinding and polishing processing of the robot is realized.
2. The invention can solve the problem of inconsistent grinding and polishing effects caused by the same process adopted in the actual grinding and polishing process of the airplane composite member robot by controlling the elastic deformation of the grinding and polishing process of the airplane composite member robot, and meet the diversified processing requirements of the size and the profile precision of the airplane composite member.
3. The invention obtains the relation between pressure and elastic deformation based on the Hertz contact theory, then obtains the relation between grinding force and material removal amount according to the test result, further provides a force-position mixed control strategy of global variable pressure and local constant pressure to control grinding and polishing force, and realizes elastic deformation control and material removal controllability of robot grinding and polishing processing according to the relation between the grinding force and elastic deformation and material removal amount. The method comprises the steps of grinding and polishing a composite material component of an airplane by using a grinding force and an elastic deformation relation, wherein the grinding force and the elastic deformation relation are used for controlling the constant-force grinding control which meets the preset requirement, and the variable-pressure grinding control which does not meet the preset requirement.
4. According to the invention, by controlling the suppression of grinding and polishing vibration of the aircraft composite material component robot, the reasonability of the posture and the processing parameters of the mechanical arm in the processing process can be ensured, so that the active suppression of vibration is realized, the vibration lines of grinding and polishing processing are eliminated, and the quality of the processed surface is ensured.
5. According to the optimal rigidity and attitude relation and the optimal parameter combination in the robot machining space, the machining track of the robot is rapidly optimized by adopting a specific algorithm to determine the parameters of the grinding and polishing machining process of a machining area, so that the active suppression of vibration in the grinding and polishing machining process of the robot is realized, the grinding and polishing machining vibration lines are eliminated, and the quality of the machined surface is ensured.
Drawings
FIG. 1 is a general flow chart of a method for suppressing elastic deformation and vibration in a robot polishing process of an aircraft composite member according to a preferred embodiment of the invention;
fig. 2 is a flowchart of an elastic deformation control method in a grinding and polishing processing elastic deformation and vibration suppression method of an aircraft composite member robot according to a preferred embodiment of the present invention;
fig. 3 is a flowchart of a vibration suppression method in a method for suppressing vibration and elastic deformation in a grinding and polishing process of an aircraft composite member robot according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an elastic deformation and vibration suppression method for a robot polishing and polishing process of an aircraft composite member provided in an embodiment of the present invention mainly includes two aspects: on the one hand, the elastic deformation control of the grinding and polishing processing of the robot for the composite material members of the airplane is realized. Firstly, grinding process parameters are taken as variables, grinding force and machining deformation are taken as experimental indexes, grinding orthogonal test under multi-parameter combination is carried out, then the relation between pressure and elastic deformation is obtained based on the Hertz contact theory, the relation between the grinding force and material removal is obtained according to the test result, then a force-position mixed control strategy of global variable pressure and local constant pressure is provided to control grinding and polishing force, and elastic deformation control and material removal controllability of robot grinding and polishing are realized according to the relation between the grinding force and elastic deformation as well as material removal; and on the other hand, the vibration suppression of the grinding and polishing processing of the robot for the composite material component of the airplane is realized. The method comprises the steps of firstly measuring and calculating the rigidity of the robot in different postures, evaluating the rigidity performance of the robot, drawing an optimal rigidity and posture distribution relation graph, secondly carrying out an orthogonal experiment by taking the geometric/physical characteristics of a curved surface and grinding and polishing process parameters as variables and average amplitude as test indexes to obtain an optimal parameter combination, and finally carrying out rapid optimization on the machining track of the robot based on a DFP quasi-Newton method to realize the suppression of the machining vibration of the robot. The method specifically comprises the following steps:
the method comprises the following steps: and designing a first independent variable group and a first dependent variable group according to the grinding and polishing processing parameters of the aircraft composite member robot. The first independent variable group in the test is grinding parameters, which include spindle rotation speed, tool feed speed, cutting depth and the like. The first dependent variable group is a grinding response, which includes a grinding force, a machining deformation amount, and the like.
Step two: and performing grinding multi-parameter combination orthogonal test on the first independent variable group and the first dependent variable group, and acquiring test data corresponding to the orthogonal test.
Step three: and obtaining a nonlinear relation between the grinding force and the material removal amount according to the test data corresponding to the orthogonal test.
Step four: and establishing a nonlinear relation between the grinding pressure and the elastic deformation in the robot machining process according to a Hertz elastic contact theoretical model.
Step five: and controlling the grinding force in the robot machining process by adopting a force-position mixed control strategy of global variable pressure and local constant pressure, controlling the elastic deformation in the robot machining process according to the nonlinear relation between the grinding pressure and the elastic deformation, and controlling the material removal amount in the grinding and polishing machining of the aircraft composite material robot according to the nonlinear relation between the grinding force and the material removal amount, so as to obtain the grinding and polishing machining process parameters after the elastic deformation control and the material removal control are controllable.
Step six: and constructing the relation between the optimal rigidity and the attitude in the machining space of the robot. Specifically, the sixth step includes the following steps:
(1) selecting different robot position and posture target points in a plurality of groups of robot processing spaces.
(2) And establishing a Cartesian dynamic stiffness model of the robot at the current position according to the pose target point of the robot.
(3) Evaluating and calculating the rigidity performance of the robot at the pose target point of the robot according to the Cartesian dynamic rigidity model of the robot and the scalar measurement of the rigidity matrix; in the present invention, the scalar measure of the stiffness matrix includes the matrix rayleigh quotient, the force ellipsoid, and the stiffness ellipsoid.
(4) And constructing the relation between the optimal rigidity and the attitude in the machining space of the robot according to the rigidity performance evaluation result of the robot.
Step seven: and optimizing the processing track of the robot according to the optimal rigidity and attitude relation in the processing space of the robot and the grinding and polishing processing process parameters after elastic deformation control and material removal control, and determining the optimal grinding and polishing processing process parameters of the processing area. Specifically, the seventh step includes the steps of:
(1) and designing a second independent variable group and a second dependent variable group according to the grinding and polishing process parameters after elastic deformation control. The second independent variable group comprises the curved surface geometric characteristics or physical characteristics of the aircraft composite member and grinding and polishing process parameters, wherein the curved surface geometric characteristics or physical characteristics of the aircraft composite member comprise the curvature, the elastic modulus and the rigidity of the aircraft composite member. The grinding and polishing process parameters comprise grinding and polishing force, spindle rotating speed and cutter feeding speed. The second dependent variable is the average vibration amplitude of the robot in the grinding and polishing process.
(2) And carrying out multi-parameter combined grinding orthogonal test on the second independent variable group and the second dependent variable to obtain test data corresponding to the orthogonal test.
(3) And obtaining the optimal parameter combination according to the test data corresponding to the orthogonal test.
(4) According to the optimal rigidity and attitude relation and the optimal parameter combination in the robot machining space, a specific algorithm is adopted to rapidly plan the machining path track of the robot so as to determine the grinding and polishing machining process parameters of the machining area, and in this way, the vibration suppression of the grinding and polishing machining process of the robot is realized.
As shown in fig. 2, the specific flow of the method for suppressing the elastic deformation in the grinding and polishing process of the robot for the composite material members of the airplane of the present invention is as follows: for a point q in a given composite material processing area, measuring and calculating a curvature change rate C and a rigidity change rate S in the vicinity of the point q; further, judging that the conditional curvature change rate C is less than or equal to C0The change rate of the sum rigidity S is less than or equal to S0Whether all the machining points are met, if so, controlling the neighborhood of the target machining point q of the aircraft composite member by constant-force polishing; if the pressure difference does not meet the preset requirement, the neighborhood of the target processing point q of the aircraft composite member is subjected to variable pressure polishing control, in the period, the cutter yield is suitable for the relation between the pressure and the elastic deformation, and the elastic deformation control of the aircraft composite member robot in the polishing process is finally realized by combining the pressure and the elastic deformation.
The method comprises the following specific steps:
(1) giving a target processing point of the composite material component of the airplane;
(2) measuring the curvature change rate C of the neighborhood of the target processing point of the airplane composite member;
(3) calculating the rigidity change rate S of the neighborhood of the target processing point of the airplane composite member;
(4) judging whether the neighborhood of the target processing point of the aircraft composite material component meets the following conditions:
C≤C0，
and S is less than or equal to S0
If so, performing constant-force polishing control on the neighborhood of the target processing point of the aircraft composite member; if not, performing variable pressure grinding control on the neighborhood of the target processing point of the airplane composite member, and controlling the cutter yielding amount according to the nonlinear relation between the grinding pressure and the elastic deformation amount and the nonlinear relation between the grinding force and the material removal amount in the variable pressure grinding process; in this way, the parameters of the grinding and polishing process after elastic deformation control and material removal control are obtained; wherein, C0Is a threshold rate of curvature change, S0Is the rigidity change rate threshold value.
The invention can control the elastic deformation of the grinding and polishing processing of the aircraft composite member robot, can solve the problem of inconsistent grinding and polishing effects caused by the same process adopted in the actual grinding and polishing processing of the aircraft composite member robot, and meets the diversified processing requirements of the size and the profile precision of the aircraft composite member.
As shown in fig. 3, the specific flow of the method for suppressing vibration in grinding and polishing of the aircraft composite member robot of the invention is as follows: the method flow is described by using the randomly selected aircraft composite member robot processing path point P, firstly inputting the path point P as an initial iteration position, and calculating the iteration stiffness T of the point P(k)Then calculating the search direction u(k)Secondly, calculating the attitude point P which enables the pose rigidity of the robot to be maximum(k)Judgment of P(k)Whether the point P is in the optimal rigidity and attitude relation diagram in the robot processing space or not, and if the point P is not in the range(k)Repeating the steps as a new initial iteration point P, and if the point P is within the range(k)Is the optimized point of the point P and is marked as the point P’(ii) a Then determining the curvature and the rigidity of a processing area D on the aircraft composite material component corresponding to the point P', and determining the processing according to the relation between the rigidity and the attitude of the robot and the optimal parameter combinationAnd the grinding and polishing parameters of the area D finally realize the vibration suppression of the grinding and polishing of the robot.
The method comprises the following specific steps:
(1) building an algorithm model based on DFP quasi-Newton;
(2) taking any point P on the robot machining path as an initial iteration point, and inputting a DFP-based quasi-Newton algorithm model;
(3) calculating the iterative stiffness T of the point P(k)；
(4) Calculating the search direction u of the point P(k)；
(5) Iterative stiffness T according to point P(k)And search direction u(kCalculating and acquiring pose point P meeting maximum pose rigidity of robot(k)；
(6) Judging the pose point P(k)Whether the relation between the optimal rigidity and the attitude in the robot machining space is met, if so, outputting a point P' which is optimized based on a DFP quasi-Newton algorithm model, and continuing to execute the step (7), otherwise, outputting the point P(k)As a new initial iteration point P, turning to the step (2);
(7) determining the curvature and the rigidity of a processing area D on the aircraft composite member corresponding to the point P';
(8) determining a grinding and polishing processing process parameter of the processing area D according to the optimal rigidity and attitude relation and the optimal parameter combination in the processing space of the robot;
(9) and (5) repeating the steps (2) to (8) to realize vibration suppression in the grinding and polishing process of the robot.
According to the invention, grinding and polishing vibration of the aircraft composite material component robot is inhibited, and reasonability of the posture and processing parameters of the robot in the processing process can be ensured, so that active inhibition of vibration is realized, grinding and polishing vibration lines are eliminated, and the quality of a processed surface is ensured.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A grinding and polishing elastic deformation and vibration suppression method for an aircraft composite member robot is characterized by comprising the following steps:
s1, designing a first independent variable group and a first dependent variable group according to the grinding and polishing processing parameters of the aircraft composite member robot;
s2, grinding multi-parameter combination orthogonal test is carried out on the first independent variable group and the first dependent variable group, and test data corresponding to the orthogonal test are obtained;
s3, obtaining a nonlinear relation between the grinding force and the material removal amount according to the test data corresponding to the orthogonal test;
s4, establishing a nonlinear relation between grinding pressure and elastic deformation in the robot machining process according to a Hertz elastic contact theoretical model;
s5, a force-position mixed control strategy of global variable pressure and local constant pressure is adopted to control the grinding force in the robot machining process, meanwhile, the elastic deformation in the robot machining process is controlled according to the nonlinear relation between the grinding pressure and the elastic deformation, the removal amount of materials in the grinding and polishing machining of the aircraft composite material robot is controlled according to the nonlinear relation between the grinding force and the material removal amount, and in this way, the grinding and polishing machining process parameters after the elastic deformation control and the material removal control are obtained;
s6, constructing the relation between the optimal rigidity and the attitude in the robot processing space;
s7, optimizing the robot processing track according to the optimal rigidity and attitude relation in the robot processing space and the grinding and polishing processing process parameters after elastic deformation control and material removal control, determining the optimal grinding and polishing processing process parameters of the processing area, and realizing vibration suppression of the robot grinding and polishing processing process in this way.
2. The method for suppressing the elastic deformation and vibration in the grinding and polishing process of the robot for the aircraft composite material member according to claim 1, wherein the first independent variable group in the step S1 is a robot grinding response, and the robot grinding response comprises a grinding force and a processing deformation.
3. The method for suppressing the elastic deformation and the vibration in the grinding and polishing process of the robot for the composite material members of the airplane as claimed in claim 1, wherein the step S5 specifically comprises the following steps:
s51, giving a target processing point of the composite material component of the airplane;
s52, measuring the curvature change rate C of the neighborhood of the target processing point of the airplane composite member;
s53, calculating the rigidity change rate S of the neighborhood of the target processing point of the airplane composite member;
s54, judging whether the neighborhood of the target processing point of the aircraft composite material member meets the following conditions:
C≤C0，
and S is less than or equal to S0
If so, performing constant-force polishing control on the neighborhood of the target processing point of the aircraft composite member; if not, performing variable pressure grinding control on the neighborhood of the target processing point of the airplane composite member, and controlling the cutter yielding amount according to the nonlinear relation between the grinding pressure and the elastic deformation amount and the nonlinear relation between the grinding force and the material removal amount in the variable pressure grinding process control; in this way, the parameters of the grinding and polishing process after elastic deformation control and material removal control are obtained;
wherein, C0Is a threshold rate of curvature change, S0Is the rigidity change rate threshold value.
4. The method for suppressing the elastic deformation and the vibration in the grinding and polishing process of the robot for the composite material members of the airplane as claimed in claim 1, wherein the step S6 specifically comprises the following steps:
s61, selecting different robot pose target points in a plurality of groups of robot processing spaces;
s62, establishing a Cartesian dynamic stiffness model of the robot at the current position according to the robot pose target point;
s63, evaluating and calculating the rigidity performance of the robot at the pose target point of the robot according to the Cartesian dynamic rigidity model of the robot and the scalar measurement of the rigidity matrix;
s64, constructing the relation between the optimal rigidity and the attitude in the robot processing space according to the rigidity performance evaluation result of the robot.
5. The method for suppressing the elastic deformation and the vibration during the grinding and polishing process of the aircraft composite member robot as claimed in claim 1, wherein in step S6, the relationship between the optimal rigidity and the attitude in the processing space of the robot is described in a drawing manner.
6. The method for suppressing the elastic deformation and the vibration in the grinding and polishing process of the robot for the composite material members of the airplane as claimed in claim 1, wherein the step S7 specifically comprises the following steps:
s71, designing a second independent variable group and a second dependent variable group according to the grinding and polishing process parameters after elastic deformation control;
s72, carrying out multi-parameter combined grinding orthogonal test on the second independent variable group and the second dependent variable to obtain test data corresponding to the orthogonal test;
s73 obtaining an optimal parameter combination according to the test data corresponding to the orthogonal test;
s74, according to the optimal rigidity and attitude relation and the optimal parameter combination in the robot processing space, a specific algorithm is adopted to rapidly plan the processing path track of the robot so as to determine the grinding and polishing processing process parameters of the processing area, and in this way, the vibration suppression of the grinding and polishing processing process of the robot is realized.
7. The method for suppressing the elastic deformation and the vibration in the grinding and polishing process of the robot for the aircraft composite member as recited in claim 6, wherein the second independent variable group comprises the geometric characteristics of the curved surface of the aircraft composite member and the grinding and polishing process parameters, and the second dependent variable group comprises the average vibration amplitude.
8. The method for suppressing elastic deformation and vibration in grinding and polishing process of an aircraft composite material member robot as claimed in claim 6, wherein in step S74, the specific algorithm is DFP quasi-newton method.
9. The method for suppressing the elastic deformation and the vibration in the grinding and polishing process of the robot for the composite material members of the airplane as claimed in claim 8, wherein the step S74 specifically comprises the following steps:
s741 constructs an algorithm model based on DFP quasi-Newton;
s742 taking any point P on the robot machining path as an initial iteration point, and inputting a DFP-based quasi-Newton algorithm model;
s743 calculates the iterative stiffness T of Point P(k)；
S744 calculating a search direction u of the point P(k)；
S745 iterative stiffness T according to point P(k)And search direction u(kCalculating and acquiring pose point P meeting maximum pose rigidity of robot(k)；
S746 judging the pose point P(k)Whether the relation between the optimal rigidity and the attitude in the robot machining space is met, if so, outputting a point P' optimized based on a DFP quasi-Newton algorithm model, and continuing to execute the step S747, otherwise, outputting the point P(k)As a new initial iteration point P, go to step S742;
s747, determining the curvature and the rigidity of the processing area D on the aircraft composite member corresponding to the point P';
s748 determining grinding and polishing process parameters of the processing area D according to the optimal rigidity and attitude relation and the optimal parameter combination in the processing space of the robot;
s749 repeats steps S742 to S748 to suppress vibration in the polishing process of the robot.
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