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Stability analysis of milling chatter in six-degree-of-freedom industrial robots

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Abstract

Due to the low structural rigidity of six-degree-of-freedom (DOF) industrial robots, the chattering phenomenon is prone to occur under the excitation of periodic milling force, which has an effect on the processing quality of workpieces. In this paper, the influence of milling parameters on the stability of six-DOF robot milling is studied, under the consideration of the mode coupling effect and the regenerative effect on milling stability. First, a mode equation considering both the mode coupling effect and the regenerative effect is developed. Second, based on the fully discrete method, the chatter stability domain model of six-DOF robot (namely, the stability lobe diagram) is established, and the influences of the spindle speed, axial depth of cut, radial depth of cut, and feed rate on the stability of the machining system are analyzed. Finally, the accuracy of the prediction results of the chatter stability domain model is verified by milling experiments.

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Funding

The authors received financial support from the National Natural Science Foundation of China (U22A20201), the General Project of Shandong Provincial Natural Science Foundation (ZR2020ME116), and the Major Science and Technology Innovation Project of Shandong Province (2022CXGC010202).

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Authors and Affiliations

  1. School of Mechanical Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan, 250353, Shandong, China

    Yun Zhang, Tingting Zhou & Jinwei Qiao

  2. Shandong Institute of Mechanical Design and Research, Jinan, 250031, Shandong, China

    Yun Zhang, Tingting Zhou & Jinwei Qiao

  3. School of Mechanical Engineering, Shandong University, Jinan, 250061, Shandong, China

    Tianliang Hu

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  1. Yun Zhang
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Contributions

Yun Zhang: writing — original draft, writing — review and editing, experiment. Tingting Zhou: conceptualization, writing — review and editing, project management. Tianliang Hu and Jinwei Qiao: validation, methodology.

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Correspondence to Tingting Zhou.

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Zhang, Y., Zhou, T., Hu, T. et al. Stability analysis of milling chatter in six-degree-of-freedom industrial robots. Int J Adv Manuf Technol 127, 2861–2880 (2023). https://doi.org/10.1007/s00170-023-11615-7

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  • DOI: https://doi.org/10.1007/s00170-023-11615-7

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