动力学模态解耦的工业机器人加工颤振规避方法

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关键词：机器人加工颤振；颤振规避；模态解耦；再生型颤振；振型耦合型颤振中图分类号：TP242.2DOI：10.3969/j.issn.1004-132X.2026.03.007 开放科学（资源服务）标识码（OSID）：

Abstract： To address the issue of chatter avoidance in robotic machining processes， a method was proo posed to avoid chatters in industrial robot machining based on dynamics modal decoupling.Firstly，dynamicsdifferential equations were established for the robot at various orientations within a specific location.Secondly，stability analyses were conducted separately for regenerative chatter and mode-coupling chatter，allowing the reachable robot orientations to be classified as either stable or chatter-prone.Thirdly，stability criteria for both regenerative chatter and mode-coupling chater were derived to identify orientations where neither type of chatter occured. Based on these stability criteria，stable and chatter orientations were selected，and hammering experiments，as wellas robotic machining chatter avoidance tests，were carried out. Experimental results validate the effectiveness of the proposed method.

Key words： robotic machining chattr;chater avoidance；modal decoupling；regenerative chatter; mode coupling chatter

0 引言

近年来，工业机器人智能化加工逐渐成为高质量制造的新趋势，其中接触式作业工业机器人主要应用于打磨、抛光等复杂曲面制造的关键工序中[1]。（剩余24671字）