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Modeling of Chatter Stability in Robot Milling

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13014))

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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.

Author information

Authors and Affiliations

  1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China

    Daxian Hao, Huan Zhao & Han Ding

  2. Wuxi Research Institute of Huazhong University of Science and Technology, Wuxi, 214100, China

    Gang Zhang

Authors
  1. Daxian Hao
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  2. Gang Zhang
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  3. Huan Zhao
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  4. Han Ding
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Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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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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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89097-1

  • Online ISBN: 978-3-030-89098-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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