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

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

[thumbnail of UTIS_2019.pdf] PDF
UTIS_2019.pdf

Download (1MB)

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
Divisions: Integrated Manufacturing Technologies Research and Application Center
Faculty of Engineering and Natural Sciences > Academic programs > Industrial Engineering
Faculty of Engineering and Natural Sciences
Depositing User: Lütfi Taner Tunç
Date Deposited: 24 Sep 2020 12:53
Last Modified: 02 Jan 2023 00:01
URI: https://research.sabanciuniv.edu/id/eprint/41060

Actions (login required)

View Item
View Item