Robotically assisted active vibration control in milling: A feasibility study

The role of robots has been increasing in machining applications, with new concepts such as robotic-assisted where a robot supports the workpiece while it is machined by machine tool. This method improves chatter stability to certain extent. However, forced vibrations or unstable can still be limiting factor for productivity and quality process. In this paper, robotically assisted milling approach extended consider an actively controlled arm, suppress operation. To assess feasibility method, proof-mass actuator assembled on beam structure that representative system. designed exhibit two degrees freedom its structural dynamics, thereby emulating robots’ dynamic response. effect active control evaluated. Frequency domain results show arm increases critical depth cut. A range methods are evaluated, namely direct velocity feedback (DVF), virtual passive absorber (VPA), proportional integrated derivative (PID), linear quadratic regulator (LQR), H infinity (H∞) μ synthesis control. validate simulated frequency response function (FRF) results, several experimental tests carried out each method. Furthermore, time model used lobe diagrams detecting boundaries with/without force saturation. It shown cut increased 2.6, compared scenario no applied.