During the robotic milling process, vibration is one of the main factors that affect the machining accuracy and surface quality due to the low stiffness of the robot structure. The robotic milling stability is a function of the frequency response function (FRF) at the tool tip, which is posture-dependent within the workspace. This paper introduces an approach for rapidly predicting the tool tip FRF for industrial robotic milling at any posture. In this method, the models of the one degree-of-freedom (DOF) robot and two DOF robot are extended to a six DOF industrial robot to calculate the FRF at the holder tip based on the FRF acquisition tests at the arranged postures and a standardization process. Considering the coupling effects between the holder and the tool, the tool tip FRF at any posture of the milling robot is calculated using the receptance coupling substructure analysis (RCSA) method. Accordingly, the proposed method is applied to an industrial robot, and the feasibility of this method for predicting the posture-dependent FRF at high frequency in the workspace is validated though the impact tests. Moreover, the stability lobe diagram is calculated and the chatter tests are performed to validate its accuracy. At last, the robot structural modes are observed at the low-frequency dominant modes, whose frequencies are around 10 to 20 Hz.

在机器人铣削过程中，由于机器人结构的刚度低，振动是影响加工精度和表面质量的主要因素之一。机械手的铣削稳定性是刀尖上频率响应函数（FRF）的函数，该函数在工作空间中与姿势有关。本文介绍了一种快速预测工业机器人铣削中任何姿势的刀尖FRF的方法。在这种方法中，将一个自由度（DOF）机器人和两个DOF机器人的模型扩展到一个六个DOF工业机器人，以根据在布置姿势和位置下的FRF采集测试计算支架末端的FRF。标准化过程。考虑到刀架和工具之间的耦合作用，使用接收耦合子结构分析（RCSA）方法计算铣削机器人在任何姿势下的刀头FRF。因此，将所提出的方法应用于工业机器人，并且通过冲击试验验证了该方法在工作空间中以高频预测与姿势有关的FRF的可行性。此外，计算了稳定性波瓣图，并进行了颤振测试以验证其准确性。最后，在低频主导模式下观察到了机器人的结构模式，其频率约为10至20 Hz。此外，计算了稳定性波瓣图，并进行了颤振测试以验证其准确性。最后，在低频主导模式下观察到了机器人的结构模式，其频率约为10至20 Hz。此外，计算了稳定性波瓣图，并进行了颤振测试以验证其准确性。最后，在低频主导模式下观察到了机器人的结构模式，其频率约为10至20 Hz。