Effect of quasi-static motion on the dynamics and stability of robotic milling

Tunç, Lütfi Taner and Gönül, Bora (2021) Effect of quasi-static motion on the dynamics and stability of robotic milling. CIRP Annals, 70 (1). pp. 305-308. ISSN 0007-8506 (Print) 1726-0604 (Online)

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Robotic milling exhibits low frequency chatter, which is highly affected by the robot configuration and milling position. There has been significant effort to investigate the effect of robot structures on milling stability, most of which rely on the modal parameters which are measured under static conditions, i.e. robot is not moving. This study shows that the vibration response of industrial robots under quasi-static motion conditions differs from that of static conditions, which in return affects the stability limits at low frequency chatter conditions. Conclusions are derived from the experimental results to lead the requirement of on-the-fly identification of modal parameters.
Item Type: Article
Uncontrolled Keywords: Dynamics; Milling; Stability
Divisions: Faculty of Engineering and Natural Sciences
Integrated Manufacturing Technologies Research and Application Center
Depositing User: Lütfi Taner Tunç
Date Deposited: 03 Sep 2022 20:44
Last Modified: 03 Sep 2022 20:44
URI: https://research.sabanciuniv.edu/id/eprint/43463

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