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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