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Model based analysis of kinematic redundancy for increased chatter stability in robotic milling

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Gönül, Bora and Tunç, Lütfi Taner (2019) Model based analysis of kinematic redundancy for increased chatter stability in robotic milling. In: 10th International Congress on Machining, Antalya, Turkey

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Abstract

Robotic milling is exposed to varying dynamic response at the tool tip due to varying serial kinematics and related dynamic properties of the robot. Therefore, stable milling conditions vary throughout the workspace based on the feed direction, as well. In this study, it is shown that kinematic redundancy of 6-axis serial arm robots can be used to reach improved stable cutting conditions and to eliminate the feed and position dependent on stability limits. The discussions are provided through simulations.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:Robotic Milling, Dynamics, Stability
Subjects:T Technology > TS Manufactures > TS0200 Metal manufactures. Metalworking
ID Code:41060
Deposited By:Lütfi Taner Tunç
Deposited On:24 Sep 2020 12:53
Last Modified:24 Sep 2020 12:53

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