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IJAT Vol.9 No.2 pp. 129-133
doi: 10.20965/ijat.2015.p0129
(2015)

Paper:

Improvement of the Static and Dynamic Behavior of a Milling Robot

Michael Friedrich Zaeh and Oliver Roesch

Institute for Machine Tools and Industrial Management (iwb)
Boltzmannstrasse 15, 85748 Garching, Germany

Received:
December 10, 2014
Accepted:
February 12, 2015
Published:
March 5, 2015
Keywords:
milling, robot, chatter, compensation
Abstract

Because of the high flexibility and low investment costs, industrial robots are increasingly being employed for machining processes. However, milling robots can only be used for applications requiring low accuracy and minor cutting forces. The main reason for this is the low static and dynamic stiffness of the robot structure, which lead to huge deflections of the tool and heavy chatter oscillations, especially when steel is being machined. To extend the areas in which milling robots are applied, a model-based controller to compensate for path deviation has been developed at the Institute of Machine Tools and Industrial Management of TU Munich (iwb). In addition, process-based strategies to reduce chatter have been analyzed. This paper focuses on the dynamic behavior of robots to increase the stability of the cutting process, but it also gives an overview of the design of the controller for static deviation compensation.

References
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Cite this article as:
Michael Friedrich Zaeh and Oliver Roesch, “Improvement of the Static and Dynamic Behavior of a Milling Robot,” Int. J. Automation Technol., Vol.9, No.2, pp. 129-133, 2015
Michael Friedrich Zaeh and Oliver Roesch, Int. J. Automation Technol., Vol.9, No.2, pp. 129-133, 2015

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Last updated on Jun. 22, 2018