Delaying tool chatter in turning with a two-link robotic arm

Abdullah Özer, S. Eren Semercigil, R. Prasanth Kumar, Pulas Yowat

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

Chatter leaves a rough machined surface, accelerates wear of the cutter and creates unacceptably loud noise levels. A conventional approach to suppress chatter is to slow the material removal rate. Such an action is usually successful to avoid chatter, but causes increased production time and cost. Therefore, it is desirable to maintain a reasonably fast rate of production and employ a chatter control measure. In this research, a semi-active parameter control technique is investigated numerically during a robotic turning process. Investigations have been performed on a two-link robotic arm model. The control of chatter has been achieved by varying the joint stiffness in a synchronized mode with the spindle speed. Stability lobe diagrams have been compared for controlled and uncontrolled cases. Simulation results showed that significant improvements can be achieved by varying the joint stiffness of robotic structures. The proposed method is stable, effective and requires no additional hardware to implement at the actuated joints of robots.

Original languageEnglish
Pages (from-to)1405-1417
Number of pages13
JournalJournal of Sound and Vibration
Volume332
Issue number6
DOIs
Publication statusPublished - Mar 18 2013

Fingerprint

robot arms
Robotic arms
robotics
stiffness
Robotics
Stiffness
cutters
spindles
robots
machining
lobes
leaves
hardware
diagrams
Wear of materials
Robots
costs
Hardware
causes
Costs

ASJC Scopus subject areas

  • Acoustics and Ultrasonics
  • Condensed Matter Physics
  • Mechanical Engineering
  • Mechanics of Materials

Cite this

Delaying tool chatter in turning with a two-link robotic arm. / Özer, Abdullah; Eren Semercigil, S.; Prasanth Kumar, R.; Yowat, Pulas.

In: Journal of Sound and Vibration, Vol. 332, No. 6, 18.03.2013, p. 1405-1417.

Research output: Contribution to journalArticle

Özer, A, Eren Semercigil, S, Prasanth Kumar, R & Yowat, P 2013, 'Delaying tool chatter in turning with a two-link robotic arm', Journal of Sound and Vibration, vol. 332, no. 6, pp. 1405-1417. https://doi.org/10.1016/j.jsv.2012.08.006
Özer, Abdullah ; Eren Semercigil, S. ; Prasanth Kumar, R. ; Yowat, Pulas. / Delaying tool chatter in turning with a two-link robotic arm. In: Journal of Sound and Vibration. 2013 ; Vol. 332, No. 6. pp. 1405-1417.
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