An improved algorithm to predict the pose-dependent cutting stability in robot milling

Chattering is one of the most important factors affecting productivity robot machining. This paper investigates pose-dependent cutting stability a 5-DOF hybrid robot. By merging complete structural dynamics with force at TCP, an effective approach for analysis milling process proposed using full-discretization technique. The method enables computational efficiency to be significantly improved because system transition matrix can simply generated sparse multiplication. Both simulation and experimental results on full size prototype machine show that lobes are highly primarily dominated by lower-order modes.