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Stiffness properties analysis and enhancement in robotic drilling application

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Abstract

Low stiffness and special stiffness properties limit the application of industrial robots in sophisticated manufacturing. The subject of the paper is to investigate the influence of robot stiffness properties on machining quality in drilling application. It is found that unidirectional thrust force could induce three-directional deformation of robot which will directly lead to hole defects during drilling procedure. Firstly, starting from the special characteristics of the robot, the key role of the preload pressing force is pointed out. Equivalent stiffness model under pre-load pressing force is established and stiffness promotion coefficient is defined to evaluate the effects of pressing force quantitatively. The matching criterion of robot drilling posture and thrust force is proposed, and the optimized value of pressing force can be predicted under the condition of stable machining. Limitation on hole diameter and roundness of robot drilling is evaluated too. By applying pre-load pressing force, the stiffness of robot drilling plane is markedly improved, and the drilling stability and hole diameter accuracy are also enhanced. Finally, the proposed method is verified by drilling experiments.

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Acknowledgments

This work was supported by “the National Natural Science Foundation of China (NO.51575273)”, “Funding of Jiangsu Innovation Program for Graduate Education (NO.KYLX15_0294)”, “the Fundamental Research Funds for Central Universities” and “the Fundamental Research Funds for the Central Universities (No. NP2018303)”

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Jianlong Zhang, Yin Bu, Wei Tian & Junshan Hu

  2. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Wenhe Liao

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  1. Jianlong Zhang
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Correspondence to Wei Tian.

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Zhang, J., Liao, W., Bu, Y. et al. Stiffness properties analysis and enhancement in robotic drilling application. Int J Adv Manuf Technol 106, 5539–5558 (2020). https://doi.org/10.1007/s00170-020-05011-8

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