机器人旋转超声钻削铝合金叠层构件毛刺特性

针对铝合金叠层构件机器人制孔容易产生钻削毛刺，严重影响飞机装配精度和效率等问题，提出基于弱刚度环境下机器人旋转超声制孔毛刺高度的计算方法。首先，通过实验验证了高频的振动冲击对毛刺高度的影响规律，建立了机器人旋转超声钻削铝合金叠层构件的钻削力经验公式。然后，结合经典薄板弯曲理论和能量法，分析了超声振动及钻削位置刚性对机器人钻削铝合金叠层板毛刺形成的影响机制。实验结果显示:所提计算方法的相对误差在13%以内，具有较高的精度。 

Burr characteristics of robotic rotary ultrasonic drilling aluminum alloy stacked components

It is easy to generate burr on the edge of holes when industrial robot drills the aluminum alloy stacked component. The assembly accuracy and efficiency of aircraft are severely affected. Aimed at the problem of robotic low stiffness, a model is developed to compute the burr height of holes produced by robotic rotary ultrasonic drilling. First, the impact of high frequency vibration on the burr height is invesgated by drilling experiments. Then, the empirical formula of drilling force in robotic rotary ultrasonic drilling aluminum alloy stacked component is obtained by analysing the experimental results. Furthermore, based on the classical thin plate bending theory and energy method, the influence mechanism of ultrasonic vibration and drilling position rigidity on the burr height of drilling is clarified. Finally, verification experiments are carried out and the results show that this method has high calculation accuracy and the relative error is within 13%.