A novel vibration suppressing method for robotic machining by inertial moment actuator using gyroscopic spindle

This study presents a novel gyroscopic spindle actuator designed for vibration suppression in robotic machining, addressing the limitations caused by the compliance and low stiffness of industrial robots. The actuator utilizes a rotating flywheel, driven by an air-pressure turbine, to generate stabilizing gyroscopic moments, enhancing machining precision and stability. Key design features include a lightweight structure, a wireless optical angular speed sensor, and an electro-pneumatic proportional valve for flywheel speed control. A proportional-integral control algorithm, using accelerometer feedback, enables real-time adjustment of the gyroscopic moment to counteract vibrations effectively. Experimental validation demonstrated significant suppression of low-frequency vibrations, particularly at about 6 Hz, alongside reductions in higher-frequency structural vibrations. These results highlight the actuator’s ability to improve surface quality and machining stability while maintaining reliable performance across various conditions. This work shows the potential of gyroscopic spindle actuators to overcome vibration-induced challenges in robotic machining and offers a foundation for future advancements in robotic manufacturing systems.