Research on the stability prediction for multi-posture robotic side milling based on FRF measurements

In robotic side milling, frequent chatter extremely restricts the acquisition of high surface quality due to weak stiffness, and cutting parameters optimization guided by stability boundary is regarded as an effective solution to solve the chatter problem. In this research, the influence mechanisms of stability were analyzed by evaluating the structural static stiffness and dynamic parameters, and the main factor was characterized as regenerative chatter by means of stability measurements and the theoretical prediction model. The distance-driven multi-posture frequency response function (FRF) prediction model was improved in terms of the dominant modal. Grey correlation analysis was carried out to investigate the influence law of robotic joints to modal parameters, and the difference between far-distance posture and near-distance posture was re-characterized by cross-validation of FRF measurements. Finally, the third-order Hermite–Newton approximation was employed to solve the dynamic model by considering process damping effect, and the results showed the prediction accuracy of the constructed stability boundary was over 85%.