Details
| Original language | English |
|---|---|
| Pages (from-to) | 2103-2116 |
| Number of pages | 14 |
| Journal | International Journal of Advanced Manufacturing Technology |
| Volume | 104 |
| Issue number | 5-8 |
| Early online date | 26 Jun 2019 |
| Publication status | Published - Oct 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.
Keywords
- Chatter, Mode coupling, Robotic machining, Self-exciting vibration, Structure model
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: International Journal of Advanced Manufacturing Technology, Vol. 104, No. 5-8, 10.2019, p. 2103-2116.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Mode coupling chatter prediction and avoidance in robotic machining process
AU - Gienke, Orm
AU - Pan, Zengxi
AU - Yuan, Lei
AU - Lepper, Thomas
AU - Van Duin, Stephen
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - Chatter
KW - Mode coupling
KW - Robotic machining
KW - Self-exciting vibration
KW - Structure model
UR - http://www.scopus.com/inward/record.url?scp=85068221412&partnerID=8YFLogxK
U2 - 10.1007/s00170-019-04053-x
DO - 10.1007/s00170-019-04053-x
M3 - Article
AN - SCOPUS:85068221412
VL - 104
SP - 2103
EP - 2116
JO - International Journal of Advanced Manufacturing Technology
JF - International Journal of Advanced Manufacturing Technology
SN - 0268-3768
IS - 5-8
ER -