%0 Journal Article
%T 机器人精镗飞机交点孔的颤振分析与识别
%A 董辉跃
%A 吴杨宝
%A 郭英杰
%A 李少波
%A 罗水均
%J 浙江大学学报(工学版)
%D 2018
%R 10.3785/j.issn.1008-973X.2018.08.011
%X 针对机器人精镗飞机交点孔时容易出现颤振，影响加工表面质量的问题，通过分析颤振发生时的压脚位移信号，提出基于Hilbert-Huang变换的颤振特征提取方法，实现机器人镗孔颤振的快速识别.对颤振前后的压脚位移信号进行时域分析和频域分析，获得颤振发生的频段.将压脚位移信号进行经验模态分解，得到一系列具有不同频段的固有模态函数（IMFs）.根据颤振频段筛选出与颤振相关的IMF，通过Hilbert变换得到瞬时频率.分析瞬时频率的变化规律，从中提取颤振特征以识别颤振.试验结果表明，在机器人镗孔系统中，此方法能够在颤振形成前0.5 s及时识别颤振.</br>Abstract: Aiming at the chatter occurred frequently in the robotic fine boring of aircraft intersection holes and the low quality of finished surface, a feature extraction method was introduced to realize fast identification of chatter in robotic boring based on Hilbert-Huang transform (HHT) through analysis of the pressure foot displacement signal. Time and frequency domain of the pressure foot displacement signal were analyzed before and after chatter, and the chatter frequency band was obtained. The pressure foot displacement signal was decomposed by empirical mode decomposition (EMD), and a series of intrinsic mode functions (IMFs) with different frequency bands were acquired. The IMF related to chatter was selected based on the chatter frequency band, and Hilbert transform was used to get the instantaneous frequency of the IMF. The instantaneous frequency was analyzed, and the chatter feature was extracted to identify the chatter. Experimental results show that chatter can be identified in 0.5 s before the outbreak of chatter in the robotic boring system.
%U http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2018.08.011