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research-article

A Method for Mode Coupling Chatter Detection and Suppression in Robotic Milling

[+] Author and Article Information
Lejun Cen

George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
cenlejun@gmail.com

Shreyes Melkote

George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
shreyes.melkote@me.gatech.edu

James Castle

Boeing Research and Technology, St. Louis, MO 63166, USA
james.b.castle@boeing.com

Howard Appelman

Boeing Research and Technology, St. Louis, MO 63166, USA
howard.r.appelman@boeing.com

1Corresponding author.

ASME doi:10.1115/1.4040161 History: Received January 17, 2018; Revised April 16, 2018

Abstract

A new method for online chatter detection and suppression in robotic milling is presented. To compute the chatter stability of robotic milling along a curvilinear tool path characterized by significant variation in robot arm configuration and cutting conditions, the tool path is partitioned into small sections such that the dynamic stability characteristics of the robot can be assumed to be constant within each section. A methodology to determine the appropriate section length is proposed. The instantaneous cutting force-induced dynamic strain signal is measured using a wireless piezoelectric thin-film polymer (PVDF) based sensor system, and a discrete wavelet transform based online chatter detection algorithm and chatter suppression strategy are developed and experimentally evaluated. The proposed chatter detection algorithm is shown to be capable of recognizing the onset of chatter while the chatter suppression strategy is found to be effective in minimizing chatter during robotic milling.

Copyright (c) 2018 by ASME
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