Optimization of redundant degree of freedom in robot milling considering chatter stability

Abstract

Aiming at the redundant degree of freedom problem of six axis industrial robot performing five axis milling task, a new optimization method of robot milling redundant degrees of freedom considering chatter stability was proposed. Taking the limit cutting depth of robot milling regenerative chatter as the optimization objective, and combined with the constraints of robot motion performance (avoiding joint limit, singular pose and collision), a redundant degree of freedom optimization model considering chatter stability was established. The milling experimental results showed that the new optimization method of robot milling redundant degrees of freedom considering chatter stability proposed in this paper can effectively avoid robot milling regenerative chatter and improve machining quality and efficiency.