Abstract
With their successful applications in handling, spraying, arc welding and other processing fields, industrial robots are gradually replacing traditional CNC machine tools to complete machining tasks due to the wider working envelope and the higher flexibility. Aiming at the chatter problem, a robotic longitudinal-torsional ultrasonic milling method with variable force coefficient is proposed in this paper. Taking carbon fiber-reinforced plastics (CFRP) as the processing object, the influence of the fiber layup angle on the milling force is analyzed first; then, the robot milling force parameters are determined, and the robot milling kinematics model is established. Furthermore, the ultrasonic function angle is defined, and the cutting layer thickness model, the dynamic milling force model, and the dynamic differential equation under ultrasonic vibration are established to analyze the stability of robotic longitudinal-torsional ultrasonic milling of CFRP. Finally, the full discrete method is used to obtain stability lobe diagrams.
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Funding
The study was co-supported by the National Natural Science Foundation of China, Grant Nos. 52075256 and 52005254, and the Natural Science Foundation of Jiangsu Province, No. BK20190417.
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Jianlong Zhang: Test design, Test execution, Software, Data analysis, and Writing-original draft preparation. Wenhe Liao: Test design, Data analysis, Writing, and Editing. Wei Zhao: Validation, Project administration, Writing-reviewing, and Editing. Wei Tian: Test design, Investigation, Reviewing and editing, and Project administration. Kan Zheng: Investigation, Supervision, Reviewing, and Editing. Bo Li: Writing-reviewing and Editing.
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Zhang, J., Liao, W., Zhao, W. et al. Research on stability of robotic longitudinal-torsional ultrasonic milling with variable cutting force coefficient. Int J Adv Manuf Technol 121, 1707–1715 (2022). https://doi.org/10.1007/s00170-022-09321-x
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DOI: https://doi.org/10.1007/s00170-022-09321-x