Improvement of the Static and Dynamic Behavior of a Milling Robot

Michael Friedrich Zaeh; Oliver Roesch

doi:10.20965/ijat.2015.p0129

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IJAT Vol.9 No.2 pp. 129-133

doi: 10.20965/ijat.2015.p0129

(2015)

Paper:

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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.

Cite this article as:

M. Zaeh and O. Roesch, “Improvement of the Static and Dynamic Behavior of a Milling Robot,” Int. J. Automation Technol., Vol.9 No.2, pp. 129-133, 2015.

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References

[1] O. Roesch, “Model-Based On-Line Compensation of Path Deviations for Milling Robots,” M. Merklein, et al., Advances Material Research, pp. 255-262.
[2] T. L. Schmitz and K. S. Smith, “Machining Dynamics,” Springer, Boston, US, ISBN: 978-0-387-09644-5, 2009.
[3] N. Maia and J. Silva, “Theoretical and experimental modal analysis,” Research Studies Press, Taunton, ISBN: 0-471-97067-0, 1997.
[4] J. Tlusty, “Manufacturing processes and equipment,” Prentice-Hall, Upper Saddle River, ISBN: 978-0-201-49865-3, 2000.
[5] E. Budak, “An Analytical Design Method for Milling Cutters With Non-constant Pitch to Increase Stability, Part I: Theory,” J. of Manufacturing Science and Engineering, Vol.125, Issue 1, pp. 29-34, 2003.
[6] N. Suzuki, T. Kojima, R. Hino, and E. Shamoto, “A Novel Design Method of Irregular Pitch Cutters to Attain Simultaneous Suppression of Multi-Mode Regenerations,” Procedia CIRP, Vol.4, No.1, pp. 98-102, 2012.
[7] G. Totis, P. Albertelli, and M. Sortino, “Efficient evaluation of process stability in milling with Spindle Speed Variation by using the Chebyshev Colloca-tion Method,” J. of Sound and Vibration, Vol.333, Issue 3, pp. 646-668, 2014.
[8] Y. Altintas, “Manufacturing automation. Metal cutting mechanics, machine tool vibrations, and CNC design,” 2^nd (Ed.), Cambridge University Press, Cambridge, ISBN: 978-0-521-17247-9, 2012.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] O. Roesch, “Model-Based On-Line Compensation of Path Deviations for Milling Robots,” M. Merklein, et al., Advances Material Research, pp. 255-262.

[2] [2] T. L. Schmitz and K. S. Smith, “Machining Dynamics,” Springer, Boston, US, ISBN: 978-0-387-09644-5, 2009.

[3] [3] N. Maia and J. Silva, “Theoretical and experimental modal analysis,” Research Studies Press, Taunton, ISBN: 0-471-97067-0, 1997.

[4] [4] J. Tlusty, “Manufacturing processes and equipment,” Prentice-Hall, Upper Saddle River, ISBN: 978-0-201-49865-3, 2000.

[5] [5] E. Budak, “An Analytical Design Method for Milling Cutters With Non-constant Pitch to Increase Stability, Part I: Theory,” J. of Manufacturing Science and Engineering, Vol.125, Issue 1, pp. 29-34, 2003.

[6] [6] N. Suzuki, T. Kojima, R. Hino, and E. Shamoto, “A Novel Design Method of Irregular Pitch Cutters to Attain Simultaneous Suppression of Multi-Mode Regenerations,” Procedia CIRP, Vol.4, No.1, pp. 98-102, 2012.

[7] [7] G. Totis, P. Albertelli, and M. Sortino, “Efficient evaluation of process stability in milling with Spindle Speed Variation by using the Chebyshev Colloca-tion Method,” J. of Sound and Vibration, Vol.333, Issue 3, pp. 646-668, 2014.

[8] [8] Y. Altintas, “Manufacturing automation. Metal cutting mechanics, machine tool vibrations, and CNC design,” 2^nd (Ed.), Cambridge University Press, Cambridge, ISBN: 978-0-521-17247-9, 2012.