Research on stability of robotic longitudinal-torsional ultrasonic milling with variable cutting force coefficient

With their successful applications in handling, spraying, arc welding and other processing fields, industrial robots are gradually replacing traditional CNC machine tools to complete machining tasks due the wider working envelope higher flexibility. Aiming at chatter problem, a robotic longitudinal-torsional ultrasonic milling method with variable force coefficient is proposed this paper. Taking carbon fiber-reinforced plastics (CFRP) as object, influence of fiber layup angle on analyzed first; then, robot parameters determined, kinematics model established. Furthermore, function defined, cutting layer thickness model, dynamic differential equation under vibration established analyze stability CFRP. Finally, full discrete used obtain lobe diagrams.