Tool chatter in turning with a two-link robotic arm

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Ozer, Abdullah and Semercigil, Eren (2011) Tool chatter in turning with a two-link robotic arm. In: Modal analysis topics : proceedings of the 29th IMAC, a conference on structural dynamics, 2011. Proulx, Tom, ed. Conference proceedings of the Society for Experimental Mechanics series, 3 . Springer, New York, pp. 161-168.


Robotic operations have undeniable advantages of speed and precision in machining. However, such operations are generally limited by the self-excited tool chatter problem. When uncontrolled, chatter leaves a rough machined surface, accelerates wear of the cutter and creates unacceptably loud noise levels. A conventional approach to suppress chatter is to slow the waste removal rate. Such an action is usually successful to avoid chatter, but causes increased production time and cost. Therefore, it is desirable to maintain a reasonably fast rate of production and employ a chatter control measure. A simple semi-active parameter control technique is investigated numerically in this study. The proposed method is effective and requires no additional hardware to implement at the actuated joints such as those in robotic structures.

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Item type Book Section
DOI 10.1007/978-1-4419-9299-4
Official URL
ISBN 9781441992987 (print), 9781441992994 (online)
Subjects Historical > FOR Classification > 0913 Mechanical Engineering
Historical > Faculty/School/Research Centre/Department > School of Engineering and Science
Keywords ResPubID24964, dynamic instability, manufacturing robots, vibration control, cutting, semi-active controllers, tools
Citations in Scopus 1 - View on Scopus
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