Frequency Response Prediction for Robot Assisted Machining

Abstract

Robotics is increasing its presence in the machine tool sector. One interesting application for robot assisted machining involves a robot locally increasing the stiffness of a thin walled part to suppress regenerative vibrations and minimize part deformations during machining. Simulating the dynamics improvement achieved when coupling the robot and the part is of high concern, in order to guarantee the appropriate performance of the assisted machining. Receptance Coupling Substructure Analysis (RCSA) technique for High Speed Machining (HSM) dynamics simulation has been expanded to derive the frequency response of the assembled system composed by the coupling of the thin walled part and the robot.

Investigation of an Actively Controlled Robot Arm for Vibration Suppression in Milling

“…al. [10] by using a different robot, natural frequencies would have been shifted close to robot's natural frequencies which are 32, 76 and 136 Hz.…”

“…Case 4 results are compared for both robot's preload position and it is presented in the Figure 3.10. The DVF control method is applied with the same gains (10,50,100,150) to the case 4 for both robot's position. In terms of controlled vibration results, there is no significant difference.…”