應用於機械臂切削加工程序之切削扭矩估測

Estimation of Cutting Torque for Machining Processes Using Manipulators

湯博翔(Po-Hsiang Tang)

指導教授 ： 葉賜旭

國立臺北科技大學/機電學院/機電整合研究所/碩士(2014年)

https://doi.org/10.6841/NTUT.2014.00902

摘要

在加工過程中，切削扭矩扮演重要的因素，因為切削扭矩與切削條件跟切削工具的狀態有密切關係。尤其，因為機械手臂的結構剛性，會使安裝在機械手臂上的終端致動器之加工切削路徑在加工過程中受到影響；因此，使用機械手臂做切削加工時，切削扭矩必須要仔細地被監督及控制。本研究對於使用機械手臂切削加工過程的切削扭矩開發出一種改善過的估測方法。此估測方法是透過主軸的伺服馬達回授訊號估測切削扭矩；本研究採用位置相依及速度相依的干擾模型運用在伺服馬達的主軸系統上以進一步地改善切削扭矩的估測。本論文設計帶止濾波器縮短位置相依擾動所影響之暫態期。相較於現有的估測方法，本論文所提估測方法可以精確且迅速地反應機械手臂加工過程中的實際切削扭矩。本研究的實驗結果，SCARA機械臂裝配不同的切削工具(鑽頭及絲攻刀) ，並進行加工測試以驗證切削扭矩估測方法的可行性。

關鍵字

機械臂 ； 切削加工 ； 切削扭矩 ； 扭矩估測

並列摘要

During a machining process, the cutting torque is the most important factor because it is closely related to the cutting condition and the tool status. In particular, the cutting torque for a machining process using a manipulator can significantly affect the motions of the cutting tool installed on the end-effector of the manipulator because of its structure rigidity; thus, the cutting torque must be carefully monitored and controlled during a machining process using a manipulator. The aim of this study was to develop an improved estimation method for the cutting torque of a machining process using a manipulator. The developed estimation method can estimate the cutting torque by using signals obtained from the applied spindle servomotor pack; a mathematical model that considers both position- and velocity-dependent perturbations of the applied spindle servomotor is employed to further improve the estimation of the cutting torque. A notch filter design that considers the effects of position-dependent perturbation was also developed to shorten the transient period. Compared to the existing approaches, the developed estimation method can accurately and quickly respond to the actual cutting torque during a machining process using a manipulator. Several experiments were performed on a SCARA manipulator equipped with different cutting tools for drilling, tapping, and milling processes to demonstrate the feasibility of the proposed cutting torque estimation method.

並列關鍵字

Manipulator ； Machining of cutting ； Cutting torque ； Estimation of torque

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