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Robotic milling stability optimization based on robot functional redundancy

Ke Gao (School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China)
Xiaoqin Zhou (School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China)
Rongqi Wang (School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China)
Mingxu Fan (School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China)
Haochen Han (School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 September 2023

Issue publication date: 16 November 2023

136

Abstract

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.

Keywords

Acknowledgements

This work was supported by the Jilin Provincial Key Program of Science and Technology Development (Grant No. 20190302020GX) and the Education Department of Jilin Province (Grant No. JJKH20211073KJ).

Conflicts of interest: The author(s) declared no potential conflicts of interest with respect to the research, authorship and/or publication of this article.

Citation

Gao, K., Zhou, X., Wang, R., Fan, M. and Han, H. (2023), "Robotic milling stability optimization based on robot functional redundancy", Industrial Robot, Vol. 50 No. 6, pp. 1036-1047. https://doi.org/10.1108/IR-06-2023-0130

Publisher

:

Emerald Publishing Limited

Copyright © 2023, Emerald Publishing Limited

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