Modeling and Coefficient Identification of Cortical Bone Milling Forces of Ball-End Milling Cutter for Orthopaedic Robot

摘要

When cutting the hard cortical bone layer, orthopedic robots are prone to cutting chatter and thermal damage due to force and heat. Accurately establishing a model of cortical bone milling force and assessing the milling force in suppressing cortical bone cutting chatter, reducing cutting thermal damage, and optimizing process parameters is of great significance. This study aims to deeply explore the issues of modeling and coefficient identification of the milling force model of the orthopedic robot ball-end milling cutter for cortical bone, and to establish a theoretical model related to the milling state for analyzing the stability of robot milling chatter. The milling force model of the orthopedic robot ball-end milling cutter was constructed using the micro-element method, and a milling coefficient identification model was established based on the average milling force model. The coefficients were identified using the least squares method, and the cortical bone milling force model for the orthopedic robot ball-end milling cutter was established and experimentally verified. The experimental results show that the milling force curve calculated is basically consistent with the actual measured curve in terms of values and trend, verifying the accuracy of the established milling force model, and providing a theoretical basis for the study of robot cortical bone milling chatter.