Bibliographic record
Abstract
Abstract Excessive and unstable vibrations that are caused by the machining forces are among the most critical problems that limit the use of industrial robots instead of CNC machine tools. Reduction and control of robot’s vibrations during machining require accurate models of the robot’s vibration response to the dynamic forces exerted at the Tool Centre Point (TCP) where the cutting tool interacts with the workpiece material. The existing models of vibrations in robotic machining have been formed by assuming the linearity of the dynamic response at the TCP. In this paper, the accuracy of this assumption is investigated experimentally, and the results show that the dynamic response at the TCP is strongly nonlinear. An experimental procedure is presented to identify the nonlinearities by employing the first-order Frequency Response Functions (FRFs) measured using various input force excitations. Nonlinear Complex Mode Analysis is then used to extract the modal parameters of the system when its dynamics is linearized around a harmonic response with a constant amplitude. The extracted modal parameters strongly depend on the amplitude of the applied force and the resulting vibrations. This study highlights the need for considering the nonlinearities of the structural dynamics of industrial robots in modelling machining vibrations.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.001 |
| Meta-epidemiology (narrow) | 0.002 | 0.002 |
| Meta-epidemiology (broad) | 0.003 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; both teacher heads agree on what is shown here.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".