This paper describes surface location error (SLE) for serial kinematic robot milling. It includes frequency-domain models for milling stability and SLE, which both use a mechanistic force model and tool tip frequency response functions as inputs. Based on the predictions, experimental conditions are selected and SLE experiments are completed for a selected geometry and 6061-T6 aluminum workpieces. Measurements and predictions are compared and the predictions are used to compensate the workpiece geometry and reduce SLE. It is observed that, due to the presence of both low stiffness, low frequency robot modes and high frequency tool-holder-spindle modes, the SLE is large, but nearly independent of spindle speed for the available range of spindle speeds.

中文翻译：

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机器人铣削中的表面位置误差：低频和高频振动模式组合的影响

本文描述了串行运动机器人铣削的表面位置误差 (SLE)。它包括铣削稳定性和 SLE 的频域模型，它们都使用机械力模型和刀尖频率响应函数作为输入。根据预测，选择实验条件，并针对选定的几何形状和 6061-T6 铝工件完成 SLE 实验。比较测量结果和预测结果，并使用预测结果来补偿工件几何形状并降低 SLE。据观察，由于低刚度、低频机器人模式和高频刀架主轴模式的存在，SLE很大，但对于可用的主轴速度范围来说，几乎与主轴速度无关。