Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling

To address the issue of chatter avoidance in robotic machining processes, a method was proposed to avoid chatters in industrial robot machining based on dynamics modal decoupling. Firstly, dynamics differential equations were established for the robot at various orientations within a specific location. Secondly, stability analyses were conducted separately for regenerative chatter and mode-coupling chatter, allowing the reachable robot orientations to be classified as either stable or chatter-prone. Thirdly, stability criteria for both regenerative chatter and mode-coupling chatter were derived to identify orientations where neither type of chatter occurred. Based on these stability criteria, stable and chatter orientations were selected, and hammering experiments, as well as robotic machining chatter avoidance tests, were carried out. Experimental results validate the effectiveness of the proposed method.