Mode coupling chatter prediction and avoidance in robotic machining process

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

Autoren

  • Orm Gienke
  • Zengxi Pan
  • Lei Yuan
  • Thomas Lepper
  • Stephen Van Duin

Externe Organisationen

  • University of Wollongong
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Seiten (von - bis)2103-2116
Seitenumfang14
FachzeitschriftInternational Journal of Advanced Manufacturing Technology
Jahrgang104
Ausgabenummer5-8
Frühes Online-Datum26 Juni 2019
PublikationsstatusVeröffentlicht - Okt. 2019

Abstract

Robots are widely used in automation because of their flexibility. However, there are still challenges to enhance the effective use of robots in machining process due to unexpected vibration/chatter. Instead of time-consuming trial and error, this paper proposes an expanded mode coupling chatter theory that suits robot kinematics and enables industrial application due to accurate mode coupling chatter prediction. This research allows determination of mode coupling chatter occurrence with respect to constantly changing parameters of robotic kinematic and practical contemplation before setting up the physical robot, workpiece and tool for machining. Firstly, the mathematical model of the robot structure is established and combined with chatter theory. A deepened analysis of stability criteria is carried out followed by experimental validation of the theory. By carrying out this chatter analysis, a software tool based on an algorithm was developed to help determine the stable setup, including machining parameters, robot pose, travel direction and workpiece setup, for a certain robotic machining application. The developed prediction algorithm ties vibration occurrence to machining force direction and magnitude that makes it applicable to various machining operations.

ASJC Scopus Sachgebiete

Zitieren

Mode coupling chatter prediction and avoidance in robotic machining process. / Gienke, Orm; Pan, Zengxi; Yuan, Lei et al.
in: International Journal of Advanced Manufacturing Technology, Jahrgang 104, Nr. 5-8, 10.2019, S. 2103-2116.

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

Gienke O, Pan Z, Yuan L, Lepper T, Van Duin S. Mode coupling chatter prediction and avoidance in robotic machining process. International Journal of Advanced Manufacturing Technology. 2019 Okt;104(5-8):2103-2116. Epub 2019 Jun 26. doi: 10.1007/s00170-019-04053-x
Gienke, Orm ; Pan, Zengxi ; Yuan, Lei et al. / Mode coupling chatter prediction and avoidance in robotic machining process. in: International Journal of Advanced Manufacturing Technology. 2019 ; Jahrgang 104, Nr. 5-8. S. 2103-2116.
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