Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator
Book, Wayne John
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When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different depending on feedback gains, configurations, and direction of interest. In this paper, the compliance of a manipulator is derived analytically, and magnitude is represented as a compliance ellipsoid. Then, using a two link flexible manipulator with an abrasive cut-off saw, the experimental investigation shows that the chattering varies with the saw cutting angle due to the different compliance. The main work is devoted to finding a desirable cutting angle which reduces the chattering.