Compared to conventional machine tools, industrial robots offer great advantages such as multitasking, larger workspace, and lower price. However, these advantages of robots are undermined by their high structural flexibility leading to excessive deflections, severe vibrations, and ultimately violating dimensional tolerances and poor surface finish. Modeling the dynamics of robots under machining (e.g. milling and drilling) forces is essential for reducing deflections and vibrations during the process. Although modeling the dynamics of traditional machining systems is a well-studied subject, the existing modeling approaches are not applicable to robotic manipulators because of the posture-dependent dynamics of industrial robots. Within this context, the presented thesis aims to predict the stability of vibrations during robotic machining operations through prediction of posture dependent dynamic behavior of robots. A rigid-body modeling approach is used to identify the dynamic parameters of the robotic manipulator based on least squares estimation method. Next, by adopting a rigid link flexible joint model and employing experimental modal analysis to identify the joint stiffness and damping parameters, posture dependent dynamic response prediction of the robot is achieved. Finally, the posture-dependent milling stability is presented as a function of the predicted tool center point transfer function, spindle speed, and axial depth of cut. A Staubli TX200 robot and a Kuka KR90 robot are used as experimental case studies. / Graduate

<p dir="ltr">Within the aerospace community in recent years, there has been a marked increase in interest in cislunar space. To this end, the study of the dynamics of this regime has flourished in both quantity and quality in recent years, spearheaded by the use of simplified dynamical models to gain insight into the dynamics and to generate viable mission concepts. The most popular and simple of these models, the Circular Restricted Three-Body Problem, has been thoroughly explored to meet these goals (even well-prior to the recent spike in interest). Much work has been done investigating periodic orbits within these models, and similarly has been performed on non-periodic transfers into periodic orbits. Studied less is the superposition of these two concepts, or using periodic orbits as a way to transit, for example, cislunar space. In this thesis, the development of periodic orbits amenable to transiting is accomplished. Beginning from periodic orbit families already present in the literature, this research finds a novel and useful family of periodic orbits, here dubbed the spatial 2:1-resonant orbit family. Within this newly-discovered family, multitudes of qualitative behaviors interesting to the astrodynamics community are found. Many family members seem accommadating to a diverse set of mission profiles, from purely-unstable family members best suited to use as transfers, to marginally stable ones best suited to longer-term use. This family as a whole is analyzed and catalogued with thorough descriptions of behavior, both quantitative and qualitative. While the Circular Restricted Three-Body Problem serves as an excellent starting point for analysis, trajectories found there must be generalized to higher-fidelity modeling. In this spirit, this thesis also focuses on demonstrating such generalization and putting it into practice using the more sophisticated Elliptic-Restricted Three-Body Problem. Documentation of the numerical tools necessary and helpful in accomplishing this generalization is included in this work. Prototypically, the truly 2:1 sidereally-resonant unstable member of the 2:1 family is transitioned into the elliptic problem, as is a nearly-stable L2 Halo orbit family member. This new trajectory is paired with a more classically-present example to show the validity of the methodology. To aid this analysis, symmetries present within the elliptic model are also explored and explained. With this analysis completed, this orbit family is demonstrated to be both interesting and useful, when considered under even more realistic modelling. Further work to mature this novel family of orbits is merited, both for use as the fundamental building block for transfers and for use for more-permanent habitation. More broadly, this work aims to achieve a further proliferation of the merger between transfer and orbit, concepts which seem distinct at first, but deserve more gradual consideration as different flavors of the same idea.</p>