Chatter Vibration Analysis of A Novel Industrial Robot for Robotic Boring Process

摘要

Industrial robots are considered as promising options to accomplish fine boring works of aircraft intersection holes. However, industrial robots have weak stiffness and are easy to induce chatter vibration which affects the safety of the robot structure and the cutting insert at the same time, as well as machining quality in robotic boring process. In this article, a novel industrial robot is proposed. First, the robot structure is introduced in brief. Secondly, according to the stiffness model and the dynamic differential equation of the robot, the distribution of directional stiffness and natural frequencies is investigated. The vibration results are analyzed based on the robotic boring vibration mechanism., cutting conditions and robot characteristics. Finally., the vibration results of the robot with different stiffness parameters are investigated., which show that the chatter vibration can be suppressed significantly by improving the robot stiffness.