Investigation of hexapod robot dynamics and its effects in milling

T. Tunc, J.D. Barnfather

    Research output: Contribution to journalArticlepeer-review


    The use of Robotic machining in order to enable ‘mobile manufacturing’, is considered to be a more cost effective and portable alternative to traditional CNC machine tools. Thus, it is started to be used in the manufacture of large scale components designed in industries such as aerospace and nuclear energy. Robotic machining has many potential advantages but is also subject to a number of serious technical challenges. Robotic platforms used in mobile machining are notorious for their low dynamic rigidity, mode coupling and position dependent dynamic comparison to traditional CNC machine tools. In this paper, the dynamics and stability of robotic machining are investigated with specific focus on the analysis of the system’s dynamic and positional behaviour in milling, where a FANUC F200ib hexapod robotic machining platform is used. After identifying the sources of flexibilities, process stability models are applied in order to establish chatter free cutting conditions for improved productivity. In addition, the positional accuracy capability of the hexapod robot is also discussed to establish relationship between the dynamic flexibility and static flexibility. The results are verified through experimental cases and conclusions are derived.
    Original languageEnglish
    JournalModern Machinery Science Journal
    Publication statusPublished - 2014


    • Mobile Machining
    • Chatter
    • Dynamics
    • Stability
    • Hexapod


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