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

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. (c) 2021 CIRP. Published by Elsevier Ltd. All rights reserved.