With the development of large and complex aerospace products, industrial robots with automatic guided vehicles have been increasingly used in manufacturing and assembly, such as drilling, riveting, and milling, due to their advantages of multi-station machining and high expandability. However, they are prone to vibration when excited by machining forces because of their low rigidity, which leads to poor surface quality. In this paper, the redundant degrees of freedom of the robotic drilling system are utilized to optimize its drilling configuration to achieve vibration suppression in manufacturing. First, the fast calculation method for dynamic response of the drilling system is introduced using the transfer matrix method for multibody systems. Secondly, a drilling configuration optimization method is proposed based on a genetic algorithm to minimize the drilling vibration response in manufacturing. Finally, the approach presented in this paper is verified by numerical simulation and drilling experiments. The results show that the methodology effectively reduces the vibration of the robotic drilling and improves the drilling quality.

随着大型复杂的航空航天产品的发展，带有自动导引车的工业机器人由于其多工位加工和高扩展性等优点，越来越多地应用于钻孔、铆接、铣削等制造和装配领域。然而，由于它们的刚性低，在受到加工力的激励时容易产生振动，从而导致表面质量差。在本文中，机器人钻孔系统的冗余自由度被用来优化其钻孔配置，以实现制造中的振动抑制。首先，介绍了多体系统传递矩阵法快速计算钻井系统动态响应的方法。. 其次，提出了一种基于遗传算法的钻孔配置优化方法，以最小化制造过程中的钻孔振动响应。最后，通过数值模拟和钻井实验验证了本文提出的方法。结果表明，该方法有效地降低了机器人钻孔的振动，提高了钻孔质量。