{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T07:35:18Z","timestamp":1778312118271,"version":"3.51.4"},"reference-count":24,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2019,9,19]],"date-time":"2019-09-19T00:00:00Z","timestamp":1568851200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,9,19]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Since robot\u2019s structural stiffness is usually less than 1\u2009N\/\u00b5m, mode coupling chatter occurs frequently during robotic milling process, and chatter frequency is close to the natural frequency of the robot itself. Chatter not only affects the surface quality but also damages the robot and reduces the positioning accuracy. Therefore, it is necessary to predict chatter in robotic machining process.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A three-dimensional dynamic model for robot\u2019s spatial milling plane is established, and a corresponding stability criterion is obtained. First, the cutting force in milling plane is transformed into the coordinate system of the robot principal stiffness direction based on homogeneous transformation matrix. Then the three-dimensional stability criterion under milling process can be obtained by using system stability analysis. Furthermore, the circle diagram of mode coupling chatter stability is drawn. Each feeding direction\u2019s stability under the two processing forms, referred as spindle vertical milling and spindle horizontal milling, is analyzed.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experimental results verify that the three-dimensional stability criterion can avoid chatter by selecting machining feed direction in stable area.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper established a three-dimensional dynamic model in robot\u2019s spatial milling plane and proposed a three-dimensional stability criterion according to the Routh criterion. The work is also expected to be an efficient tool in the development of robotic milling technology.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2019-0036","type":"journal-article","created":{"date-parts":[[2019,9,26]],"date-time":"2019-09-26T10:29:02Z","timestamp":1569493742000},"page":"82-89","source":"Crossref","is-referenced-by-count":10,"title":["Three-dimensional stability analysis of robotic machining process"],"prefix":"10.1108","volume":"47","author":[{"given":"Feng-Xia","family":"He","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Dai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qisen","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhong","family":"Luo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"1","key":"key2020052608424687200_ref001","doi-asserted-by":"crossref","first-page":"387","DOI":"10.1016\/j.cirp.2007.05.090","article-title":"Modeling and identification of an industrial robot for machining applications","volume":"56","year":"2007","journal-title":"CIRP Annals"},{"issue":"1","key":"key2020052608424687200_ref002","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1016\/S0007-8506(07)62342-7","article-title":"Analytical prediction of stability lobes in milling","volume":"44","year":"1995","journal-title":"CIRP Annals"},{"key":"key2020052608424687200_ref003","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1016\/j.jmapro.2017.06.010","article-title":"CCT-based mode coupling chatter avoidance in robotic milling","volume":"29","year":"2017","journal-title":"Journal of Manufacturing Processes"},{"key":"key2020052608424687200_ref004","doi-asserted-by":"crossref","first-page":"486","DOI":"10.1016\/j.promfg.2017.07.034","article-title":"Effect of robot dynamics on the machining forces in robotic milling","volume":"10","year":"2017","journal-title":"Procedia Manufacturing"},{"issue":"8","key":"key2020052608424687200_ref005","doi-asserted-by":"crossref","first-page":"81015","DOI":"10.1115\/1.4040161","article-title":"A method for mode coupling chatter detection and suppression in robotic milling","volume":"140","year":"2018","journal-title":"Journal of Manuf. 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