Chatter stability prediction for multi-robots collaborative milling system

摘要

Multi-robots collaborative milling system (MRCMS) can significantly enhance the machining efficiency of multi-feature parts that widely served in aerospace manufacturing; however, the machining quality is seriously restrict by the chatter. To cope with this problem, a chatter stability prediction method for MRCMS is proposed in the paper. Firstly, the chatter stability model of single-robot milling system is constructed while considering both the regenerative effect and modal coupling effect. Then, based on the model, the coupling of the two cutting forces in double-robots collaborative milling system (DRCMS) is expressed as the relationship between frequency response function (FRF) and its delay term, which is used for chatter stability model construction of DRCMS. Finally, the coupling of multi cutting forces is considered to construct the chatter stability model for MRCMS. The zero-order approximate (ZOA) method is adopted to solve above models to obtain the stability lobe diagram (SLD), which is used for chatter stability prediction and cutting parameters optimization of MRCMS.