Abstract
Mobile machining with industrial robots is proposed as a cost-effective and portable manufacturing alternative to large scale CNC machine tools in large-scale part manufacturing. Robotic milling, one of the widely used mobile machining approaches, involves several technical challenges and distinct characteristics in terms of machining dynamics and stability due to completely different structural build up. In this paper, distinctive effects of Stewart platform-type of hexapod robot on stability of robotic milling is investigated based on characterisation of its structural dynamics, simulation of stability limits and experimental validation. Three aspects are demonstrated: (1) the position-dependent stability diagrams due to the position-dependent dynamics of the hexapod platform, (2) the effects of cross transfer function due to the complex kinematic chain on milling stability and (3) the role of feed rate direction in stability of robotic milling. The conditions for minimised position-dependent stability through appropriate tooling are also illustrated through simulations and experimental verification. The cases where process stability may be governed by either the hexapod robot or the cutting tool modes are discussed and identified through stability analysis. It is shown that the feed rate direction becomes a significant parameter for stability limits in robotic milling. The conditions at which the cross transfer function becomes significant on milling stability are discussed through simulations and experimental results. It is shown that cross transfer functions may significantly affect milling stability especially when the radial depth of cut is less than 50 % of the tool diameter. As one of the important outcomes of this research, it is found that appropriate tooling may decrease the reliance of milling stability on robot position.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Uriarte L, Zatarain M, Axinte D, Yague-Fabra J, Ihlenfeldt S, Eguia J, Olarra A (2013) Machine tools for large parts. CIRP Ann 62(2):731–750
Budak E (2006) Analytical models for high performance milling. Part II: process dynamics and stability. Int J Mach Tool Manuf 46:1489–1499
Abele E, Weigold M, RothenBücher S (2007) Modelling and identification of an industrial robot for machining applications. CIRP Ann 56(1):387–390
Pan Z, Zhang H, Zhu Z, Wang J (2006) Chatter analysis of robotic machining process. J Mater Process Technol 173:301–309
Zaghbani I., Songmene V., Bonev I., 2013, An experimental study on the vibration response of a robotic machining system, Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 227/6:866-880
Tlusty J, Ziegert J, Ridgeway S (1999) Fundamental comparison of the use of serial and parallel kinematics for machine tools. CIRP Ann 48(1):351–356
Rehsteiner F, Neugebauer R, Spiewak S, Wieland F (1999) Putting parallel kinematics machines (PKM) to productive work. CIRP Ann 48(1):345–350
Fassi I, Wiens GJ (2000) Multi axis machining: PKMs and traditional machining centers. J Manuf Process 2:1–14
Weck M, Staimer D (2002) Parallel kinematic machine tools—current state and future potentials. CIRP Ann 51(2):671–683
Shneor Y, Portman VT (2010) Stiffness of 5-axis machines with serial, parallel and hybrid kinematics: evaluation and comparison. CIRP Ann 59(1):409–412
Law M, Ihlenfeldt S, Wabner M, Altintas Y, Neugebauer R (2013) Position-dependent dynamics and stability of serial-parallel kinematic machines. CIRP Ann 62(1):375–378
Axinte DA, Allen JM, Anderson R, Dane I, Uriarte L, Olarra A (2011) Free-leg hexapod: a novel approach of using parallel kinematic platforms for developing miniature machine tools for special purpose operations. CIRP Ann 60(1):395–398
Budak E, Altintas Y (1995) Analytical prediction of stability lobes in milling. CIRP Ann 44(1):357–362
Tunc L.T., Shaw J., 2015, Experimental study on investigation of dynamics of hexapod robot for mobile machining, International Journal of Advanced Manufacturing Technology, http://dx.doi.org/10.1007/s00170-015-7600-6
Budak E, Tunc LT, Alan S, Ozguven HN (2012) Prediction of workpiece dynamics and its effects on chatter stability in milling. CIRP Ann 61(1):339–342
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
About this article
Cite this article
Tunc, L.T., Shaw, J. Investigation of the effects of Stewart platform-type industrial robot on stability of robotic milling. Int J Adv Manuf Technol 87, 189–199 (2016). https://doi.org/10.1007/s00170-016-8420-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00170-016-8420-z