High Power Laser and Particle Beams, Volume. 34, Issue 11, 119001(2022)
Modal analysis and mid-spatial-frequency errors suppression of 6-DOF bonnet polishing robot
Figures & Tables(21)
Fig. 3. Sensor placement in pulse excitation method modal experiment
Fig. 4. Acceleration response spectrum of each measuring point of the robot in dual postures
Fig. 6. Displacement response of each joint point of an industrial robot at variable speed idling
Fig. 8. Simulated energy consumption values of elastic components of different specifications
Fig. 11. Comparison of fixed-point polishing RMS between ordinary bonnet tool and vibration suppression bonnet tool
Fig. 12. Comparison of spectra of fixed-point polishing spots between ordinary bonnet tool and vibration suppression bonnet tool
Fig. 13. Comparison of the polishing effect of the original bonnet tool and the vibration suppression bonnet tool
Fig. 14. Comparison of the
Table 1. Bonnet polishing system parameters
View tableView in ArticleTable 1. Bonnet polishing system parameters
scope of work/m carrying capacity/kg repeatability/mm repeat path accuracy/mm total mass/kg 2.6 200 0.05 0.10 1170
Table 2. Simulation material parameters
View tableView in ArticleTable 2. Simulation material parameters
material density/(kg/m3) Young’s modulus/MPa Poisson’s ratio gray cast iron 7200 1.1×1011 0.28 aluminum alloy 2770 7.1×1010 0.33 concrete 2300 3×1010 0.18 sand 2000 1×108 0.25 60Si2MnA 7740 2.06×1011 0.29
Table 3. IRB 6700 joint stiffness
View tableView in ArticleTable 3. IRB 6700 joint stiffness
joint1 joint2 joint3 joint4 joint5 joint6 joint stiffness/(mm∙N/rad) 2.53×109 9.31×108 6.52×108 9.12×107 4.36×107 2.34×107
Table 5. Mooney-Rivilin hyperelastic constitutive model
View tableView in ArticleTable 5. Mooney-Rivilin hyperelastic constitutive model
material constant/Pa C10 C01 2.45×106 −9.58×105
Table 6. The third-order generalized Maxwell viscoelastic constitutive model
View tableView in ArticleTable 6. The third-order generalized Maxwell viscoelastic constitutive model
dimensionless material constant relaxation time/s g1 g2 g3 τ1 τ2 τ3 0.10293 0.57067 0.05479 0.02905 0.00082 0.78611
Table 7. Comparison of the polishing effect of the original bonnet tool and the vibration suppression bonnet tool
View tableView in ArticleTable 7. Comparison of the polishing effect of the original bonnet tool and the vibration suppression bonnet tool
comparison parameters originary bonnet vibration suppression bonnet relative reduction rate PV/μm before polishing 2.866 2.000 — after polishing 2.809 1.948 PSD/(mm·nm2) before polishing — — 40% after polishing 316.9 187.5 RMS/nm before polishing 540.773 395.562 — after polishing 534.043 382.256
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Feng Lu, Zhenzhong Wang, Xuepeng Huang, Pengli Lei. Modal analysis and mid-spatial-frequency errors suppression of 6-DOF bonnet polishing robot[J]. High Power Laser and Particle Beams, 2022, 34(11): 119001
Paper Information
Category: Advanced Interdisciplinary Science
Received: Jan. 6, 2022
Accepted: Jun. 14, 2022
Published Online: Oct. 18, 2022
The Author Email: Wang Zhenzhong (wangzhenzhong@xmu.edu.cn)
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