Abstract
Compared with CNC machines, articulated robots show significant pose-dependent dynamic characteristics. Thus, the chatter mechanism of robot milling is murky. Furthermore, trajectory accuracy is also dependent on robot pose, resulting in complexity of the robot milling stability. In this paper, robot trajectory tracking error, independent from tool speed, can be seen as an external disturbance to the classical regenerative chatter model. With the consideration of robot trajectory tracking error, a new robot milling dynamic model was proposed to study the chatter stability in robot milling process. Robot milling tests have been carried out to verify the model.
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Acknowledgements
This work was supported by the National Key R&D Program of China No. 2018YFB1308900, the Natural Science Foundation of Hubei Province, China under Grant No. 2020CFA077 and the Basic national Defense Research of China No. JCKY2018205C004.
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Hao, D., Zhang, G., Zhao, H., Ding, H. (2021). Modeling of Chatter Stability in Robot Milling. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_57
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DOI: https://doi.org/10.1007/978-3-030-89098-8_57
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