薄壁筒件机器人铣削颤振识别及抑制方法研究

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关键词：薄壁件；机器人铣削；颤振识别；颤振抑制

中图分类号：TP249

DOI：10.3969/j.issn.1004-132X.2026.03.013 开放科学（资源服务）标识码（OSID）：

Abstract： Aiming at the problems that chattering was easy to occur in robotic intermittent grooving milling applications of cast thin-walled cylindrical parts，which led to the degradation of surface quality of the parts，an on-line identification and suppression method of chater was proposed based on entropy diference of power spectrum and variable rotational speed. Firstly，the type of chater and the characteristics of diferent milling states were determined based on the analyses of miling conditions of thin-walled parts. Secondly，the combination of power spectrum entropy diference and root-mean-square value was utilized for milling state identification，and a spindle rotational frequency and the multiplier fast removal algorithm was proposed to address the issues of early chater frequencies being easily drowned out. Thirdly，combined with a number of experiments to clarify the influences of miling parameters on chater，the discrete variable speed method was adopted for chatter suppression，and a spindle speed update strategy was developed.Finally，an online chatter monitoring and suppression system was developed，and variable speed flutter suppresson tests were conducted. The results show that the method proposed herein effectively identifies the idle，stable and chatering states，and the amplitude of vibration acceleration is reduced by about 37.3% after chattering suppression，and the roughness value of the machined groove bottom surface is reduced by about 34.7%

Key words： thin-wall component； robotic milling;chatter recognition; chatter suppression

0 引言

大型薄壁件因其质量小、强度高、结构紧凑等特点被广泛应用于航空航天领域[1]。（剩余17934字）