Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling

doi:10.3969/j.issn.1004-132X.2026.03.007

China Mechanical Engineering ›› 2026, Vol. 37 ›› Issue (3): 571-585.DOI: 10.3969/j.issn.1004-132X.2026.03.007

Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling

GUO Wanjin¹^,²^,³^,⁴(), LI Qianhui¹, TIAN Yuxiang¹, CAO Chuqing²^,⁵, ZHAO Lijun²^,⁴, XU Mingkun¹, LIU Xiaoheng¹, HOU Xudong¹

^1.Key Laboratory of Road Construction Technology and Equipment，Ministry of Education，Chang'an University，Xi'an，710064
^2.Yangtze River Delta HIT Robot Technology Research Institute，Wuhu，Anhui，241007
^3.EFORT Intelligent Robot，Co. ，Ltd. ，Wuhu，Anhui，241060
^4.School of Mechatronics Engineering，Harbin Institute of Technology，Harbin，150000
^5.School of Computer and Information，Anhui Polytechnic University，Wuhu，Anhui，241000

Received:2024-11-06 Online:2026-03-25 Published:2026-04-08
Contact: GUO Wanjin

动力学模态解耦的工业机器人加工颤振规避方法

郭万金¹^,²^,³^,⁴(), 利乾辉¹, 田玉祥¹, 曹雏清²^,⁵, 赵立军²^,⁴, 徐明坤¹, 刘孝恒¹, 侯旭栋¹

^1.长安大学道路施工技术与装备教育部重点实验室, 西安, 710064
^2.长三角哈特机器人产业技术研究院, 芜湖, 241007
^3.埃夫特智能机器人股份有限公司, 芜湖, 241060
^4.哈尔滨工业大学机电工程学院, 哈尔滨, 150000
^5.安徽工程大学计算机与信息学院, 芜湖, 241000

通讯作者: 郭万金
作者简介:郭万金^*（通信作者），男，1983年生，副教授、博士研究生导师。主要研究方向为工业机器人颤振规避、工业机器人打磨主动柔顺控制。E-mail：guowanjin@chd.edu.cn。
基金资助:
国家自然科学基金(52275005);陕西省自然科学基础研究计划(2025JC-QYXQ-027);陕西省自然科学基础研究计划(2025JC-YBMS-619);中央高校基本科研业务费专项资金(300102253201);中国博士后科学基金(2024M760002);安徽省博士后科研项目(2023B675);安徽省机器视觉检测与感知重点实验室开放基金(KLMVI-2025-HIT-06)

Abstract

Abstract:

To address the issue of chatter avoidance in robotic machining processes， a method was proposed to avoid chatters in industrial robot machining based on dynamics modal decoupling. Firstly， dynamics differential equations were established for the robot at various orientations within a specific location. Secondly， stability analyses were conducted separately for regenerative chatter and mode-coupling chatter， allowing the reachable robot orientations to be classified as either stable or chatter-prone. Thirdly， stability criteria for both regenerative chatter and mode-coupling chatter were derived to identify orientations where neither type of chatter occured. Based on these stability criteria， stable and chatter orientations were selected， and hammering experiments， as well as robotic machining chatter avoidance tests， were carried out.Experimental results validate the effectiveness of the proposed method.

Key words: robotic machining chatter, chatter avoidance, modal decoupling, regenerative chatter, mode coupling chatter

摘要：

针对机器人加工过程的颤振规避问题，提出了一种动力学模态解耦的工业机器人加工颤振规避方法。建立了某一确定位置下不同姿态的机器人动力学微分方程；分别对再生型颤振和振型耦合型颤振进行稳定性分析，将机器人可达姿态判定为稳定姿态或颤振姿态；分别推导机器人再生型颤振和振型耦合型颤振的稳定性判据，得到不发生再生型颤振和振型耦合型颤振的姿态。依据这些稳定性判据，选择稳定姿态和颤振姿态，开展了机器人锤击实验和机器人加工状态下的颤振规避实验。实验结果验证了所提方法的有效性。

关键词: 机器人加工颤振, 颤振规避, 模态解耦, 再生型颤振, 振型耦合型颤振

CLC Number:

TP242.2

GUO Wanjin, LI Qianhui, TIAN Yuxiang, CAO Chuqing, ZHAO Lijun, XU Mingkun, LIU Xiaoheng, HOU Xudong. Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling[J]. China Mechanical Engineering, 2026, 37(3): 571-585.

郭万金, 利乾辉, 田玉祥, 曹雏清, 赵立军, 徐明坤, 刘孝恒, 侯旭栋. 动力学模态解耦的工业机器人加工颤振规避方法[J]. 中国机械工程, 2026, 37(3): 571-585.

Figures/Tables 30

Fig.1 Robot configuration［11］

Fig.2 Robot mechanism diagram［11］

Fig.3 D-H reference coordinate system［11］

Tab. 1 Robot link parameters［11］

连杆i	θ_i	α_i	d_i	a_i
2	0	0	X₃+L₁	L₃
3	-π/2+φ₄	π/4	L₂+L₄+ $2$ L₅	0
4	π+φ₅	π/4	0	0
5	0	0	0	0

Tab. 1 Robot link parameters［11］

连杆i	θ_i	α_i	d_i	a_i
2	0	0	X₃+L₁	L₃
3	-π/2+φ₄	π/4	L₂+L₄+ $2$ L₅	0
4	π+φ₅	π/4	0	0
5	0	0	0	0

Fig.4 Rigidity identification experiment［14］

Fig.5 Transformation from the end Cartesian coordinate system to the decoupled coordinate system

Fig.6 Dynamic model of regenerative chatter

Fig.7 Dynamic model of mode coupling chatter

Tab. 2 Robot orientation sequence

		φ₄
		$- 2 π$	$- 3518 π$	$⋯$	$3518 π$	$2 π$
φ₅	$- 2 π$	姿态1	姿态2	$⋯$	姿态72	姿态73
	$- 3518 π$	姿态74	姿态75	$⋯$	姿态145	姿态146
	$⋮$	$⋮$	$⋮$		$⋮$	$⋮$
	$3518 π$	姿态4884	姿态4885	$⋯$	姿态4955	姿态4956
	$2 π$	姿态5256	姿态5257	$⋯$	姿态5328	姿态5329
	$- 2 π$	姿态1	姿态2	$⋯$	姿态72	姿态73

Tab. 2 Robot orientation sequence

		φ₄
		$- 2 π$	$- 3518 π$	$⋯$	$3518 π$	$2 π$
φ₅	$- 2 π$	姿态1	姿态2	$⋯$	姿态72	姿态73
	$- 3518 π$	姿态74	姿态75	$⋯$	姿态145	姿态146
	$⋮$	$⋮$	$⋮$		$⋮$	$⋮$
	$3518 π$	姿态4884	姿态4885	$⋯$	姿态4955	姿态4956
	$2 π$	姿态5256	姿态5257	$⋯$	姿态5328	姿态5329
	$- 2 π$	姿态1	姿态2	$⋯$	姿态72	姿态73

Tab.3 Results of robot joint stiffness identification［14］

关节1	关节2	关节3	关节4	关节5
5.9113×10³	2.6676×10³	2.7946×10³	4.6802×10⁶	7.0471×10⁶

Fig.8 Distribution maps of MPx and KPx under different positions and orientations

Fig.9 Comprehensive limit machining width variation

Fig.10 Stable operational points without regenerative chatter

Fig.11 Distribution of feature root values with orientation changes

Fig.12 Stable operating point without coupled chatter

Fig.13 Stable operating point where neither type of chatter occurs

Fig.14 Limit machining width distribution

Fig.15 Statistics of limit machining width

Fig.16 Number of optional orientations without regenerative chatter at different comprehensive feed depths

Fig.17 Optional orientations without coupled chatter

Fig.18 Robot hammering experiment platform

Fig.19 Stable and chatter orientations in hammering experiments

Fig.20 Vibration acceleration signals and excitation force signals from a robot impact experiment

Fig.21 Frequency response function curve

Tab. 4 Hammering experiment results

姿态种类	姿态取值/rad	频率响应幅值/g	频率响应均值/g
稳定姿态1	$φ 4 = 0 、 φ 5 = 0$	4.839	0.064
稳定姿态2	$φ 4 = 0 、 φ 5 = 1118 π$	6.581	0.251
稳定姿态3	$φ 4 = - 718 π 、 φ 5 = 0$	2.857	0.820
颤振姿态1	$φ 4 = - π 、 φ 5 = - π$	77.063	1.176
颤振姿态2	$φ 4 = - 89 π 、 φ 5 = - π$	61.471	0.972
颤振姿态3	$φ 4 = - 109 π 、 φ 5 = - π$	22.221	1.061

Tab. 4 Hammering experiment results

姿态种类	姿态取值/rad	频率响应幅值/g	频率响应均值/g
稳定姿态1	$φ 4 = 0 、 φ 5 = 0$	4.839	0.064
稳定姿态2	$φ 4 = 0 、 φ 5 = 1118 π$	6.581	0.251
稳定姿态3	$φ 4 = - 718 π 、 φ 5 = 0$	2.857	0.820
颤振姿态1	$φ 4 = - π 、 φ 5 = - π$	77.063	1.176
颤振姿态2	$φ 4 = - 89 π 、 φ 5 = - π$	61.471	0.972
颤振姿态3	$φ 4 = - 109 π 、 φ 5 = - π$	22.221	1.061

Fig.22 Chatter avoidance experimental platform for robot machining conditions

Fig.23 Stable orientation 1 and chatter orientation 1 in robot machining experiments

Fig.24 Joint torque signals collected from the stable orientation and the chatter orientation

Fig.25 Acceleration signal under unit force acting on robot

Tab. 5 Chatter avoidance experiment results

姿态种类	姿态取值/rad	单位加速度幅值	单位加速度均值
稳定姿态1	$φ 4 = 0 、 φ 5 = 0$	0.032g/N	0.023g/N
稳定姿态2	$φ 4 = 0 、 φ 5 = 1118 π$	0.029g/N	0.010g/N
稳定姿态3	$φ 4 = - 718 π 、 φ 5 = 0$	0.018g/N	0.024g/N
颤振姿态1	$φ 4 = - π 、 φ 5 = - π$	0.043g/N	0.025g/N
颤振姿态2	$φ 4 = - 89 π 、 φ 5 = - π$	0.093g/N	0.086g/N
颤振姿态3	$φ 4 = - 109 π 、 φ 5 = - π$	0.047g/N	0.026g/N

Tab. 5 Chatter avoidance experiment results

姿态种类	姿态取值/rad	单位加速度幅值	单位加速度均值
稳定姿态1	$φ 4 = 0 、 φ 5 = 0$	0.032g/N	0.023g/N
稳定姿态2	$φ 4 = 0 、 φ 5 = 1118 π$	0.029g/N	0.010g/N
稳定姿态3	$φ 4 = - 718 π 、 φ 5 = 0$	0.018g/N	0.024g/N
颤振姿态1	$φ 4 = - π 、 φ 5 = - π$	0.043g/N	0.025g/N
颤振姿态2	$φ 4 = - 89 π 、 φ 5 = - π$	0.093g/N	0.086g/N
颤振姿态3	$φ 4 = - 109 π 、 φ 5 = - π$	0.047g/N	0.026g/N

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Chatter Avoidance Method of Industrial Robotic Machining Based on Dynamics Mode Decoupling

动力学模态解耦的工业机器人加工颤振规避方法

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References 21

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