Skip to main content
SpringerLink
Log in

Dynamic characterization of machining robot and stability analysis

  • ORIGINAL ARTICLE
  • Published:
The International Journal of Advanced Manufacturing Technology Aims and scope Submit manuscript

Abstract

Machining robots have major advantages over cartesian machine tools because of their flexibility, their ability to reach inaccessible areas on a complex part, and their important workspace. However, their lack of rigidity and precision is still a limit for precision tasks. Innovations and design optimization of robotic structure, links, and power transmission allow robot manufacturers to propose business solutions for machining applications. Beyond accuracy problems, it is also necessary to quantify the vibration phenomena that may affect, as in machine tools, the quality of machined parts and the tools and spindle lifespan. These vibrations occurred at specific machining conditions depending on robot and spindle dynamic properties. The robot’s posture evolved significantly in its workspace and induces dynamic’s changes observed at the tool tip that in turn impact the stability of the machining process. The objective of this paper is to quantify the dynamic behavior’s variation of an ABB IRB 6660 robot equipped with a high-speed machining (HSM) spindle in its workspace and analyze the consequences in terms of machining stability. Through an experimental modal characterization, significant variability of modal parameters is observed at the tool tip and impacts the stability of machining. The results show that an adjustment of the cutting conditions must accompany the change of robot posture during machining to ensure stability.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Chen Y, Dong F (2013) Robot machining: recent development and future research issues. Int J Adv Manuf Technol 66(9-12):1489–1497

    Article  Google Scholar 

  2. Pan Z, Zhang H, Zhu Z, Wang J (2006) Chatter analysis of robotic machining process. J Mater Process Technol 173(3):301–309

    Article  Google Scholar 

  3. Tobias SA, Fishwick W (1958) The chatter of lathe tools under orthogonal cutting conditions. ASME, Trans 80(5):1079–1088

    Google Scholar 

  4. Tlusty J, Polacek M (1963) The stability of the machine tool against self-excited vibration in machining. ASME Int Res Production 1:465–474

    Google Scholar 

  5. Abele E, Weigold M, Rothenbücher S (2007) Modeling and identification of an industrial robot for machining applications. CIRP Ann Manuf Technol 56(1):387–390

    Article  Google Scholar 

  6. Olabi A, Bearee R, Nyiri E, Gibaru O (March 2010) Enhanced trajectory planning for machining with industrial six-axis robots. In: IEEE international conference on industrial technology (ICIT), pp 500–506

  7. Zhang H, Wang J, Zhang G, Gan Z, Pan Z, Cui H, Zhu Z (2005). In: Proceedings IEEE/ASME international conference on advanced intelligent mechatronics, 2005. pp 1127–1132

  8. Coelho Reginaldo T, Rodella Hugo HT, Martins Vinícius F, Rossana Barba J (2011) An investigation into the use of industrial robots for machining soft and low density materials with hsm technique. J Braz Soc Mech Sci Eng 33:343–350

    Article  Google Scholar 

  9. Altintaş Y (2000) Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design. Cambridge University Press

  10. Bisu C-F, Cherif M, Gérard A, K’Nevez J-Y (2012) Dynamic behavior analysis for a six axis industrial machining robot, ArXiv e-prints

  11. Altintaş Y, Weck M (2004) Chatter stability of metal cutting and grinding. CIRP Ann Manuf Technol 53(2):619–642

    Article  Google Scholar 

  12. Özşahin O, Özgüven HN, Budak E (2010) Analysis and compensation of mass loading effect of accelerometers on tool point frf measurements for chatter stability predictions. Int J Mach Tools Manuf 50(6):585–589

    Article  Google Scholar 

  13. Peeters B, Van der Auweraer H, Guillaume P, Leuridan J (2004) The polymax frequency-domain method: a new standard for modal parameter estimation Shock Vib 11(3-4): 395–409

    Article  Google Scholar 

  14. Guillaume P, Verboven P, Vanlanduit S, Van der Auweraer H, Peeters B A poly-reference implementation of the least-squares complex frequency-domain estimator. In: proceedings of IMAC XXI, the International Modal Analysis Conference, Kissimmee (FL), USA, p 2003

  15. Peeters B, Guillaume P, Van der Auweraer H, Cauberghe B, Verboven P, Leuridan J Automative and aerospace applications of the polymax modal parameter estimation method. In: proceedings of IMAC XXII, the International Modal Analysis Conference, Dearborn (MI)USA, p 2004

  16. Mejri S, Gagnol V, Le T-P, Sabourin L, Ray P, Paultre P (2014) Analysis of machining robot configuration variation on tool tip frf measurements. In: XIX Symposium VISHNO, Aix en Provence, France

  17. Liao YS, Young YC (1996) A new on-line spindle speed regulation strategy for chatter control. Int J Mach Tools Manuf 36(5):651–660

    Article  Google Scholar 

  18. Cheng K (2009) Machining Dynamics - Fundamentals, Applications and Practices. Springer, London

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institut Pascal UMR 6602 UBP/CNRS/IFMA, Clermont Université, IFMA, BP10448, 63000, Clermont Ferrand, France

    Seifeddine Mejri, Vincent Gagnol, Thien-Phu Le & Laurent Sabourin

  2. Ecole Nationale Supérieure des Mines de Saint Etienne, 158, cours Fauriel, 42023, Saint-Etienne Cedex 02, France

    Pascal Ray

  3. Département de Génie Civil, Université de Sherbrooke, Sherbrooke, QC, J1K 2R1, Canada

    Patrick Paultre

Authors
  1. Seifeddine Mejri
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Vincent Gagnol
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Thien-Phu Le
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Laurent Sabourin
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Pascal Ray
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Patrick Paultre
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Seifeddine Mejri.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Mejri, S., Gagnol, V., Le, TP. et al. Dynamic characterization of machining robot and stability analysis. Int J Adv Manuf Technol 82, 351–359 (2016). https://doi.org/10.1007/s00170-015-7336-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00170-015-7336-3

Keywords

Search

Navigation