Dynamic simulation of robot milling process based on ADAMS

Abstract

Abstract In this paper, a stability model for milling chatter based on instantaneous cutting thickness was established, and the flap diagram of the stability region was drawn accordingly. The finite element simulation of dynamic milling process was carried out by using AdvantEdge, and the dynamic simulation was carried out by using ADAMS, and the torque of each joint was obtained. The conclusions show that: 1) The torque on all joints of the robot reaches the maximum value and fluctuates greatly at the initial cutting, and then tends to be stable; 2) the linear velocity jitter of the end-effector is less than 2.5·10−5m/s, and the angular velocity jitter is less than 3.3·10−5s−1, meeting the processing requirements.