Methods of Vibration Suppression in Robotic Machining

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Abstract

A review of methods to suppress vibrations in robotic machining is considered. Presented the study carried out at the Moscow Polytechnic University in the field of robotised finishing
machining is presented.

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About the authors

A. I. Shvarts

Московский политехнический университет

Author for correspondence.
Email: journal@electronics.ru

аспирант кафедры «Технологии и оборудование машиностроения» 

Russian Federation, Москва

D. N. Mironov

Московский политехнический университет

Email: journal@electronics.ru

аспирант кафедры «Технологии и оборудование машиностроения»

Russian Federation, Москва

M. V. Vartanov

Московский политехнический университет

Email: journal@electronics.ru

доктор технических наук, профессор кафедры «Технологии и оборудование машиностроения»

Russian Federation, Москва

References

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Supplementary files

Supplementary Files
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2. Figure 1. Finishing unit for GTE blades with a smart output link

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3. Figure 2. Experimental setup for testing the vibration suppression algorithm

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4. Figure 3. Neural network model with genetic algorithm

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5. Fig. 4. Composition of the experimental setup: ABB IRB 140 industrial robot, tool spindle, FTN-AXIA80 SI-200-8 / SI-500-20 force transducer

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6. Fig. 5. Outputs from the force sensor: a - feed rate 4 m / min; spindle speed 1,500 rpm; depth of cut 0.1 mm; b - feed rate 5 m / min, spindle speed 2,000 rpm, depth of cut 0.1 mm

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7. Fig. 6. Surface profilogram (length of measurements - 10 mm): a - Ra 3.42 μm; b - Ra 2.84 μm

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8. Figure 7. Profilogram (length of measurements - 10 mm): Ra = 0.9 µm (feed rate 8 m/min, spindle speed 18,000 rpm, depth of cut 0.02 mm)

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Copyright (c) 2023 Shvarts A.I., Mironov D.N., Vartanov M.V.