Abstract: The robot milling is prone to modal coupling chatter， which will do damage to the tool and the robot body， resulting in a decrease in the positioning accuracy of the robot. In order to study the influencing factors of robot milling， a large number of experiments were carried out to study the effects of spindle speed， axial depth of cutting， feed rate， tool suspension length， up and down milling， and cutting materials on robot modal coupling chatter. The results showed that in a certain range， the lower the spindle speed， the faster the feed rate， the deeper the cutting depth， the shorter the suspension length， the up-milling， the harder the material， the more likely the modal coupling chatter occurs. The spindle speed and the tool suspension impact significantly on modal coupling chatter.

Key words: robot milling, modal coupling chatter, cutting parameter, tool suspension length, up and down milling