Robotic milling stability optimization based on robot functional redundancy

摘要

Purpose Compared with the high stiffness of traditional CNC machine tools, the structural stiffness of industrial robots is usually less than 1 N/µm. Chatter not only affects the quality of robotic milling but also reduces the accuracy of the milling process. The purpose of this paper is to reduce chatter in the robotic machining process. Design/methodology/approach First, the mode coupling chatter mechanism is analyzed. Then the milling force model and the principal stiffness model are established. Finally, the robot milling stability optimization method is proposed. The method considered functional redundancies, and a new robot milling stability index is proposed to improve the quality of milling operations. Findings The experimental results prove a significant reduction in force fluctuations and surface roughness after using the proposed robotic milling stability optimization method. Originality/value In this paper, a new robot milling stability index and a new robot milling stability optimization method are proposed. This method can significantly increase the milling stability and improve the milling quality, which can be widely used in the industry.