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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
