Vibration suppression of hole making robot in process of making holes

RONG Xin ping1, XV Hai lu1, YUAN Zu qiang2

（1.College of Mechanical and Electrical Engineering, Pujiang Institute of Nanjing University of Technology, 
Nanjing 211134, China;2.Mechanics Institute, Nanjing University of Technology, Nanjing 211816, China）

Abstract: Aiming at the problem of vibration suppression of the hole making robot in the process of making holes, a typical example of a twojoint hole drilling robot to study the control algorithm was took. The effect of the feed direction drilling force on the system of the hole making robot was only considered. The mechanism of vibration in the process of making holes was analyzed. Finally the fuzzy compensation inhibit vibration control algorithm was put forwarded. According to the Lagrange equation, the dynamic model of the hole robot was established, and the drilling force model was established according to the theory of oblique cutting model. Then the simulation was carried out by the Matlab/Simulink platform under a particular position. After a fuzzy controller was used to compensate the dynamic change of the end effector of the hole making robot in the process of the axial drilling force to each joint in advance, the deflection of each joint in the hole making process was obviously weakened. The results indicate that the stiffness of the system can be enhanced by adding the vibration suppression algorithm with fuzzy compensation, which further ensures the quality of the hole.

Key words: hole making robot; fuzzy control; vibration suppression; drilling force