Chatter mechanism and stability analysis of robotic boring

Robotic boring, mainly involving an industrial robot and an end effector, is an effective way to implement the final machining of intersection holes. Although the capacity to resist vibration has been greatly improved by the pressure foot, the robotic boring system is still easily subjected to chatter during the boring process due to the series structure of the robot, which seriously affects the boring efficiency and the surface quality of the workpiece. In this article, the chatter mechanism and the stability of robotic boring with a pressure foot are analyzed. First, the cutting force model based on a multi-dimensional method and the forced model of the system with pressure foot are presented. The chatter and stability models of robotic boring with pressure foot are then established. Next, the stability lobe diagram is plotted. Finally, orthogonal experiments were performed twice using an ABB IRB6600–175/2.55 robot on high-strength steel to verify the chatter mechanism and stability. The result shows that the two most significant factors that affect the stability of the system are the feed rate and the depth of cut. This finding is beneficial for parameter selection, chatter suppression, and improving efficiency of the robotic boring.