Vibration Suppression of Robotic Machining Based on Tuned Mass Damper
TANG Xiaowei1, 2, WANG Chenyang1, YAN Rong1, LIU Chuheng1
1. Huazhong University of Science and Technology, Wuhan 430074, China;
2. National Innovation Institute of Digital Design and Manufacturing, Wuhan 430070, China
机器人加工是航天复杂舱段内腔加工的有效手段。针对部分狭窄深腔舱段的加工需求，需在机器人末端附加延长杆以提升操作可达性。然而，延长杆在拓展加工覆盖范围的同时，会增大系统动柔度，极易引发加工颤振，进而影响加工质量与效率。为此，本文提出一种变频可调式调谐质量阻尼器（Tuned mass damper，TMD）的结构设计与参数优化方法，建立了集成调谐质量阻尼器与机器人加工系统的动力学模型。该方法基于偏心曲柄滑块机构实现频率可调，根据电涡流阻尼原理完成阻尼参数调控。进一步开展机器人加工系统动柔度控制试验，结果表明，本文所提方法可使末端动柔度峰值降低67.8%，显著提升加工稳定性边界。
Robotic machining is an effective method for processing complex inner cavities of spacecraft cabins. For the machining requirements of some narrow and deep cavity sections, an extension rod is attached to the robotic endeffector to enhance operational accessibility. While extending the machining coverage, the rod increases the dynamic compliance of the system and is highly prone to inducing machining chatter, which in turn impairs machining quality and efficiency. To address this problem, a structural design and parameter optimization method for a tunable-frequency tuned mass damper (TMD) is proposed, and a dynamic model integrating the tuned mass damper with the robotic machining system is established. This method achieves frequency tunability based on an eccentric crank-slider mechanism and realizes damping parameter regulation according to the principle of eddy current damping. Further dynamic compliance control experiments on the robotic machining system are carried out. The results show that the proposed method can reduce the peak value of end-effector dynamic compliance by 67.8%, significantly expanding the stable machining boundary.
唐小卫，王晨阳，闫蓉，刘楚姮. 基于调谐质量阻尼器的机器人加工振动抑制[J]. 航空制造技术, 2026, 69(6): 14-20.
TANG Xiaowei, WANG Chenyang, YAN Rong, LIU Chuheng. Vibration Suppression of Robotic Machining Based on Tuned Mass Damper[J]. Aeronautical Manufacturing Technology, 2026, 69(6): 14-20.
2026, 
