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.

中文翻译：

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基于机器人功能冗余的机器人铣削稳定性优化

目的

与传统数控机床的高刚度相比，工业机器人的结构刚度通常小于1 N/μm。颤振不仅影响机器人铣削的质量，还会降低铣削过程的精度。本文的目的是减少机器人加工过程中的颤振。

设计/方法论/途径

首先，分析了模态耦合颤振机理。然后建立铣削力模型和主刚度模型。最后提出了机器人铣削稳定性优化方法。该方法考虑了功能冗余，提出了一种新的机器人铣削稳定性指标，以提高铣削作业的质量。

发现

实验结果证明，使用所提出的机器人铣削稳定性优化方法后，力波动和表面粗糙度显着降低。

原创性/价值

本文提出了一种新的机器人铣削稳定性指标和一种新的机器人铣削稳定性优化方法。该方法可显着增加铣削稳定性，提高铣削质量，可在工业上广泛应用。