Improved stable conditions in robotic milling by kinematic redundancy

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Gönül, Bora and Sapmaz, Ömer Faruk and Tunç, Lütfi Taner (2019) Improved stable conditions in robotic milling by kinematic redundancy. In: 17th CIRP Conference on Modelling of Machining Operations, Sheffield, UK

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Abstract

Robotic milling is exposed to asymmetrical and significantly varying dynamic response at the tool tip due to varying serial kinematics. As a result, the stable cutting conditions vary along the large working envelope, where directional effect of the feed is also vital. In this study, it is investigated and demonstrated that the kinematic redundancy of 6-axis serial arm robots can be used to achieve improved stable cutting conditions. The tool tip dynamics along the feed and cross-feed directions are experimentally measured, and the kinematic redundancy is used to eliminate the feed and position dependency of stability limits. The discussions are provided through simulations.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: Milling; Dynamics; Stability; Robotic milling
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
T Technology > TS Manufactures > TS0200 Metal manufactures. Metalworking
T Technology > TJ Mechanical engineering and machinery > TJ170-179 Mechanics applied to machinery. Dynamics
Divisions: Integrated Manufacturing Technologies Research and Application Center
Faculty of Engineering and Natural Sciences > Academic programs > Industrial Engineering
Faculty of Engineering and Natural Sciences
Faculty of Engineering and Natural Sciences > Academic programs > Manufacturing Systems Eng.
Depositing User: Lütfi Taner Tunç
Date Deposited: 26 Aug 2019 14:59
Last Modified: 26 Apr 2022 09:32
URI: https://research.sabanciuniv.edu/id/eprint/37252

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