Abstract
In this paper, a study of the capabilities of a parallel manipulator with four degrees of freedom for machining application is presented. Specifically, routing tasks will be considered. To carry out this study, a process model that allows the dynamic behaviour of robot based on the phenomenon of chatter to be considered is used. The model takes into account characteristics of the process like the tool, the material to be machined and spindle speed. The dynamic stiffness of the manipulator is also taken into account. This modal parameter has a decisive influence on the dynamic behaviour. Using a single-frequency model of stability, values of the critical depth of cut and chatter frequency are obtained. Since the structural behaviour of parallel manipulators is a function of the location in the workspace, a post-processing of both critical depth of and chatter frequency is presented. From these maps, the dependence of the depth of cut and chatter frequency on the location is also derived.
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Acknowledgements
The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Educación y Ciencia (Project DPI2011-22955) and the regional Government of the Basque Country through the Departamento de Educación, Universidades e Investigación (Project IT445-10).
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© 2012 Springer Science+Business Media Dordrecht
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Corral, J., Pinto, C., Campa, F.J., Altuzarra, O. (2012). Dynamic Capabilities of a Parallel Robot Based Routing Machine. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_21
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DOI: https://doi.org/10.1007/978-94-007-4620-6_21
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4619-0
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