The invention belongs to the technical field of optimization of
robot milling processes and particularly relates to a method for optimizing workpiece clamping positions during milling
machining by a
robot. On the basis of a six-axis
industrial robot provided with an electric spindle at the
tail end and a fixed working platform, the working platform is properly divided into multiple rectangular areas with equal areas to serve as alternative clamping positions according to the sizes of to-be-machined workpieces and clamps for the workpieces, and the clamps are placed in the centers of the alternative areas respectively; in each area, a
robot milling
system is subjected to a
modal experiment, corresponding
modal parameters are acquired, a regenerated and
coupling crossed
flutter stability analysis model is used for analysis, and a
flutter stability lobe graph is obtained through calculation. The position corresponding to a curve having the highest
vertical coordinate in the stability lobe graph is selected as the best mounting position for the workpieces on the working platform. By means of the method, the
flutter degree in the robot milling process is effectively reduced, the
machining stability is improved, and the quality of
machining parts and the size accuracy are guaranteed.