Dynamic Modeling and Stability Prediction of Robot Milling Considering the Influence of Force-Induced Deformation on Regenerative Effect and Process Damping

Undesirable chatter is one of the key problems that restrict improvement robot milling quality and efficiency. The prediction stability, which used to guide selection process parameters, an effective method avoid in milling. Due weak stiffness robot, deformation caused by forces becomes unavoidable problem, will change tool–workpiece contact area affect stability prediction. However, it often simplified neglected. In this paper, a multipoint dynamic model established, considers influence force-induced on regenerative effect damping. discretized into finite number nodes along axial direction so force at each node can be calculated separately. different forms under parameters are discussed cases, interaction between cutting analyzed detail. An iterative strategy calculate result boundary. Finally, predicted fully discrete method. Robot experiments were carried out verify results. results show important factor improving accuracy milling, more accurate obtained simultaneously considering