A review of research on robot machining chatter

Industrial robot machining systems are used extensively in processing and manufacturing sectors including aerospace, large ships, rail transit, engineering machinery, semiconductor processing, medical equipment, and new energy vehicles. However, chatter during the machining process can considerably diminish the machining accuracy and surface quality. In severe cases, it can cause damage to the tool and the machining robot. Robot machining chatter research is required to improve the stability of the machining process for high-efficiency, high-quality robotic machining. This review comprehensively summarizes research progress in three areas: robot machining chatter mechanisms, chatter stability prediction and online monitoring, and chatter suppression strategies. First, the generation mechanisms of regenerative chattering and modal-coupling chattering are clarified. Second, the methods of chattering stability prediction and online monitoring of robot machining are summarized. The differences between passive suppression, semi-active suppression, and active suppression strategies are explained. Existing problems and future directions in robot machining chattering research are summarized and prospected.