Proceeding s of the 2009 IEEE

Interna tional Con ference on Mechatronics and Automation

August 9 - 12, Changchun, China

Cutting Force Modeling and Simulation

of Tee Slot Milling
Zhongqun Li

Shangxian Zhang

School ofMechanical Engineering

Hunan University ofTechnology
Zhuzhou, Hunan Province China

Department ofOptical-mechanical-electrical Engineering

Zhongshan Torch Polytechnic
Zhongshan, Guangdong Provin ce, China

zhqunli @163.com

jinbu613 @sohu.com

Abstract - Based on the geometrical model of a tee slotting

cutter, the coordinates of the cutting edge along each cutting flute
are mathematically expressed. The instantaneous un-deformed
chip thickness is modeled to include the dynamic modulation
caused by the tool vibration so that the dynamic regeneration
effect is taken into account. A numerical method is employed to
solve the differential equations governing the dynamics of the
milling system and a chatter detection criterion is applied to the
simulated data to determine the stability of a milling process. As
a result, the cutting force, tool tip vibration and stability limits of
a milling process are predicated. A Matlab-based simulation
system for predicating cutting forces in tee slot milling is
developed using the model. Cutting tests have been conducted to
verify the simulation system.

A time-domain model is used to predict the cutting forces,

the powers, the torques, the vibrations of tool and workpiec e
during a milling operation. With this method, Tlusty [1]
portrayed the dynam ic behavior of milling and investigated
the boundary zone between the stable and unstable conditions.
Lee et al. [2] studied the effect of dynamics of the workpiece
on milling process. Altintas [3] presented a much more
detailed cutting mechanics model for the prediction of cutting
forces in end milling.
The following criterions were used to determine the
stability of a milling process in time-domain. The peak-topeak forces method was proposed by Smith [4], who showed
that as the cutting conditions approaching the boundary of
stability , the PTP forces increase dramatically. Campomanes
[5] suggested that this approach was less accurate for low
radial immersion cutting, and proposed a non-dimensional
chatter coefficient based upon the predicted chip thickness. A
similar approach was suggested by Li [6], who based their
coefficient on the resulting forces, rather than the chip
thickness. Bayly [7] sampled the simulated tool vibration data
once per tooth revolution and calculated the statistical
variance of the signal: a large variance has been shown to be a
good indicator of chatter. Li [8] applied the above chatter
detection approaches synthetically to the simulated data to
obtain the chatter stability of end milling.
So far, no mechanics and dynamics model for tee slot
milling has been reported in the literature . To some extent, a
tee slot end mill may be regarded as a special case of inserted
cutters . Recently , Engin et al. [9] presented a generalized
mathematical model of inserted cutters for the purpose of
predicating cutting forces, vibrations , dimensional surface
finish and stability lobes in milling . Based on this model,
CutPro [10] provided an analytical stability simulation for
inserted cutters . However, the configuration process is very
complicated for tee slot milling . Therefore , a dynamic cutting
force model for tee slot milling and its numerical solution are
presented in this paper.
The paper is organized as follows : The geometrical model
of a tee slotting cutter is provided in Section 11. The dynamic
cutting force model is presented in Section III. The numerical
solution and the chatter detection criterion are given in section
IV and V respectively . The development of the corresponding
simulation system is introduced in Section VI. Comparisons
between theoretical and experimental results, as well as some
discussions are given in Section V11. The paper is concluded
with the summary of contributions in Section VIII.

Index Terms - Dynamic cutting force; Tee slot milling; Chatter

vibration; Time-domain simulation

I.

INTROD UCTION

A tee slotting cutter is used to fabricate a tee slot and is

widely used in aerospace, automotive and die machining
industry. A tee slotting cutter has the following features: The
cutter is made up of two rows of uniform-spaced inserts, the
bottom surface of the cutter is the reference for the lower row
and the top surface of the cutter is the reference for the upper
row. The upper row of inserts are cutting with the top and side
edges and have a negative lead angle; the lower row of inserts
are cutting with the bottom and side edges and have a positive
lead angle. The 3D digital model of a tee slotting cutter mill
with 6 flutes is shown in Fig.l.

Fig.I 3D digital model of a 6-flute tee slott ing cutter

In most cases, a tee slotting cutter has to cut with the

overall height of its cutting edges, which leads to the cutting
force is large and it prone to chatter during the milling
process. Therefore , it is necessary to model the milling process
and determine an appropriate cutting condition by simulation
for the sake of obtaining a higher machining efficiency and
quality.

978-1-4244-2693-5/09/$25.00 2009 IEEE

1438

II. GEOMETRICAL MODELING OF A TEE SLO TTING C UTTER

C. Equation ofthe Circular Segment

To simplify the equation of the circular segment, an
approximate treatment has been done for the side cutting edge,
and the curved cutting edge is replaced by a line passing point
A and point 8. When the small value of cutting edge's length
to the cutter's diameter and the small value of lead angle are
considered, the geometrical error results from this
approximation is very small. The included angle Bbetween the
bottom edge AC and the side edge AS can be expressed as

A.

Coordinate Systems
A coordinate system is set up with the direction from the
centre of the cutter bottom to the intersection point of bottom
edge with the side edge of one insert on the lower row as the
negative direction of the Yaxis, and the axis of the cutter with
the Z axis. Once the location of one insert on the lower row
has been defined in the coordinate system, the location of
others on the same row can be defined by coordinate
transformation round the Z axis; Similarly, once the initial
location of one insert on the upper row has been defined, the
location of others on the same row at any time can be defined.
The geometry of an odd-numbered insert of 6-flute tee
slotting cutter is shown in Fig.2. The cutting edge is made up
of three parts: the bottom edge CE, the side edge SF and the
circular segment edge EF. Point D is the centre of the circular
segment, 13 is the included angle of the bottom edge with the
negative direction of the Y axis, J is the included angle
between the plane of the cutting edge and the YZ plane, R is
the radius of the cutter, W is the width of the insert, h is the
height of the insert and r is the radius of the circular segment.
Z

. (
B=arcsm

hmz

+~11z + PIPzl

)
(5)
z
~m.z +~z + Pl ~m~ +~ + P~
where {m], n], pd and {m2' n2, P2} are the directional vector
of line AC and AS respectively . The points of tangency E and
F can be given by (6).
XE=sinj3 'r /tan(B /2) {Xl' =sinJ 'r /tan(B /2)
YE =cosj3r /tan(B /2)
YF =-R
(6)

ZE =0
ZF =cosJr /tan(B /2)
The perpendicular relationship of the normal vector of the
cutting edge with both the vector AC and ED makes
ED = ACxn
(7)
As a result, the centre point D of the circular segment can
be expressed as

XD

= xE

+ m3 r / ~~ + ~ + P~

YD = YE + 11:J r / ~~ + ~ + P~
{

(8)

ZD = ZE+ P3 r / ~~ + ~ + P~

where {m3' n3, P3} is the directional vector of line DE and can
be given by (7). The equation of the circular segment is

(X- XD? +(Y- YD? +(z-z/S = r Z

Fig.2 Geometry of an odd -numbered insert of 6-fiute tee slotting cutter

B. Equation ofSide Cutting Edge

Fig.2 shows that the side cutting edge is the intersection
line of the cutting edge plane with the cutter cylinder . From
point A, draw a unit vector AG normal to the line AC, then
AC = (sin 13, cos 13, 0)
AG = (sin J, 0, cos l5)
The normal vector of the resultant plane is
j
i
n = AGxAC = sinJ
0
[
sin 13 cos 13

D. Equation ofBottom Cutting Edge

The bottom cutting edge CE is located on the plane of XY
and passing point A, the equation can be given as
y = ctg(j3)x - R
(10)
{ z=O

(1)

k]

cos zi
0

III.
(2)

MODELING OF DYNAMIC MILLING PROCESS

A milling system can be reduced to a 2-dof vibration

system in two orthogonal directions. The dynamics of the
milling system can be given by the differential equations as

= -cos J cos j3i + sin 13 cos Jj - sin J cos 13k

The equation of the plane is
-cos J cos j3x + sin 13 cos J(y + R) - sin J cos j3z = 0 (3)
As the side edge is made up of the intersection line of the
cutting edge plane and the outer cylinder of the cutter, the
equation is
x = Rcos
Y = Rsin
z = (-cos Jcosj3x+ sin 13 cos J(y + R /sin Jcosj3

(9)

{ Z = (-cos J cos j3x + sin 13 cos J(y + R / sin J cos 13

I r; = r:

mxx + cxx + kxx =

(t)

j =O

(11)

N- I

{ my}> + CyY + kyY = ~ F;,j = F;, (t)

where m, and my are the masses, c, and cy are the damping, kx
and ky are the stiffness of the machining system in modes X
and Y, and Fxj and Fyj are the components of the cutting force
that are applied on the tooth of the cutter in the directions of
X and Y, and N is the number of teeth of the cutter.
In dynamic milling process, the cutting forces excite both
the cutter and the workpiece causing vibrations which are

(4)

where is the radial immersion angle of the cutting edge at a

elevation of z. For a given value of z, the spatial position of
the cutting edge can be defined.

1439

cutter, the instantaneous overall cutting forces acting on the

whole cutter in the feed, normal to the feed and the axial
direction can be expressed as

imprinted on the cutting surface. Each vibrating cutting tooth

removes the wavy surface left by the previous tooth resulting
in modulated chip thickness which can be expressed as
h(~) =(ft sin~ +(u~c -Ujc)-(u~ -ujw))g(~)

where

It is the

feed rate per flute,

UJ

of the tooth}, Uj,

0 is the

(12)

Fx

angular immersion

j=1 1=1

are the dynamic displacements due to the

{ g( j) = 0,

tAt ~ j ~
j < tAt or j > ex

= qJ+ p(j -1) + atan(

IdztanfJ
R

j=1 1=1

IV. NUMERICAL SOLUTION OF MILLING PROCESS

Since the milling system is excited by cutting forces that
cannot be expressed by a simple analytical function, the
equations cannot be integrated in a closet form. Therefore, a
numerical method has to be used to solve these differential
equations.
Numerical solution is an approximate solution, in which
the continuous time variable t is replaced by a discrete time
variable t.; and the differential equations are solved
progressively in time increment dt =~t, starting from known
initial conditions. Although the solution is approximate, a
solution of an acceptable accuracy is obtainable with a
sufficient small time increment dt. The differential equation in
X direction can be written as

} =1,3,5, ...

H -ldz tan fJ
j1 =qJ+p(j-l)+atan(
R
) }=2,4,6, ...

(14)

where qJ is the angular displacement of the first tooth, f/Jp is the

pitch angle and f/Jp = 2n/N, dz is the height of each disk, H is
the height of the cutting edge, fJ is the lead angle, a is the axial
depth of cut, and R is the radius of the cutter.
For a given angular position 0 of the tool, the dynamic
displacements of the cutter and the workpiece can be
expressed in terms of the fixed coordinate system as
ujp = sinj + v, COSj (p=c,w)
(15)

(19)
The initial conditions Xo and Xo are presumed known as
xo = x(O) = 0

{ X = x(O) = 0
o

(20)

Let x = q , (19) is reduced to the following two first-order

Usually, U ~ is modulated by the previous tooth (j-l).

However, this is not always the case, because under large
amplitude of oscillation tooth (j-l) may lose contact with the

equations

x=- q
{ if = j(x,q,t)

surface being machined and then the outer modulation u~ is

the surface being cut by tooth (j-2) or even by tooth (j-3). This
is the basic nonlinearity of the dynamic milling process. As an
approximation, the outer modulation is generally given by
u~ = min {uj_1 (t - T), uj_2 (t - 2T), uj_3 (t - 3T),' ..}
(16)

(21)

To simplify the equation-solving process, the library

function Ode45 of Matlab was used to solve the ordinary
differential equation. Ode45 has 4 th order computational
accuracy which is based on the explicit Runge-Kutta method.
The syntax is as follows
[t, Y] = ode45(odejun,tspan,Yo,options)
(22)
where odefun is used to define the right expression for
the differential equation, tspan is used to define the time
interval vectors for integration [to tr], Yo is the initial condition
vector, options is used to modify the default value of the
numerical integration, t is column vector of the time interval,
and Y is the solution series.
The differential equation for the V-coordinate can be solved
in the same way. This approach requires the time interval dt to
be small enough. A feasible method is choose dt to satisfy the
condition of dt~21t(10Ultmax), where Ultmax is the highest natural
frequency of the machining system.
Starting with the initial conditions (20), the instantaneous
cutting forces are first obtained by (18). Then the
displacement and velocity of the cutter in X and Y directions at

where T=2 /(N) is the period between successive tooth

engagements, and is the spindle speed.
When applying the linear-edge force model [11] to each
disk, the differential cutting forces acted upon each differential
element with a depth dz of tooth j in the tangential, the radial
and the axial direction can be given as

dF;j1 (, z) = [Ktchjl () + ; ]dz

dF,.j1 (, z) =[ Krchjl () + K re] dz

Fz = LLg(j1)dFaj

(13)

(18)

j=1 1=1

By dividing the cutting edges into M disks along the axial

direction, the radial immersion angle at the Zth plate on jth
cutting edge can be approximately expressed as

j1

Fy = LLg(j1)[ dFtj sin(j1 )-d~j cos(j1)J

tool and workpiece vibrations for the current and the previous
tooth passing period, c and w represent the cutter and the
workpiece respectively, g( 0) is a unit step function which
determines whether the tooth is in or out of the cut. If st and
ex represent the entry and exit angles of the cutter to and from
the cutting, respectively, g( 0) can be determined as

g(j) = 1,

= LLg(j1)[-dFtj cos(j1 )-d~j sin(j1)J

(17)

dF:j1 (, z) = [ Kachjl () + K ae] dz

where Ktc' Krc ' Kac are the tangential, radial and axial specific
cutting force; Kte , Kre , Kae are the tangential, the radial and the
axial edge force coefficients.
By coordinate transformation, numerically integrating
along the axial direction and summation for all the teeth of the

1440

The material of the workpiece is A17075/T6 and the cutting

force coefficients obtained by identification tests are: K tc =
796.0 Nzrnrrr', Krc = 168.0 Nzmrrr', Kac = 222 Nzmrrr', Kte =
27.7 N/mm , K re = 30.8 N/mm, K ae = 1.5 N/mm.
The test system includes a Kistler 9722A500 impact
hammer, 500N and a frequency range of 1-8k Hz; a Kistler
8775A50 accelerator, 50g and a frequency range of 1-7K Hz
range; a National Instruments USB 9233 24 bit combined
DAQ-Signal Conditioning unit; a tap testing software CutPro
MALTF, a dynamic simulation software for milling SimuCut.
Hammer tests were conducted in both X direction and Y
direction to get the frequency response function in these two
directions. The obtained FRFs are shown in Fig. 4. The modal
parameters of the milling system gained by the orthogonal
polynomial identification method are listed in Table 2.
Table IT-slotted endmill used in theverification test
Insert Length (mm)
Tool code
IOA-153
19
Tooth Number
Insert Width (mm)
6
6
Tool Radius (mm)
Insert Corner Radius(mm) 5
19
Flute Length (mm) 20
Lead angle CO)
10
Axial Rake Angle (0)
Overall cngthunrn) 135
10
Shank Radius (mm) 10
Insert Material
Carbide

this time are gotten by (21). Repeat the above process, the
solution of the dynamic equation of the machining system in
time-domain can be achieved.
V. CHATTER DETECTION CRITERION
Using the time-domain simulation proposed in the above
section, the dynamic cutting forces and the tool-workpiece
vibrations can be predicted from the inputs of the cutting
conditions, tool geometry, the dynamic characteristics of the
milling system and the work material properties. For
assessment and optimization of the cutting conditions, a
stability detection criterion is required.
It is proposed that the once per tooth revolution data is
sampled and the statistical variance of the signal was
calculated as the chatter detection criterion, which is

cT = I;=/x -xj /(n j

I)

(24)

where n is the sample number, Xi is the sampled data, :x;, is the

mean or arithmetic average of the samples. It was found that
d> 1.0(~m2) can be used a stability detection criterion to
reflect the chatter occurs.
VI. SIMULATION SYSTEM DEVELOPMENT

Table2 Mo de Parameters 0 f the Machining S stem

Natural Frequency Damping Ratio
Mode
Stiffness
f(Hz)
Direction Order
K (N/m)
I
0.0471
1.13xlO'
921.0
1.86xlO'
X
2
1207.8
0.0311
6.44x1O'
3
1689.0
0.0468
i .nxio'
I
979.6
0.0307
Y
2
1214.1
0.0519
1.69xl0
5.97x10
1700.1
0.0710
3

Using the above-mentioned dynamic cutting force model

for tee slot milling, a Matlab-based simulation system has
been developed, which reads the input data of cutting
conditions, machine tool characteristics, work material, tool
geometry, and other related parameters in milling. The
simulation system consist the following two functional
modules: the dynamic cutting force simulation module and the
chatter stability lobe simulation module in time-domain. The
interface of the software is developed by using the GUlDE of
Matlab, and is shown in Fig.3, The simulation output include
the dynamic cutting forces in X, Y, Z direction, tangential
cutting force, the resultant cutting force in XY plane, the
spindle power and torque, the vibration of tool and workpiece
in X and Y direction in both graphical and numerical format.

-6

X 10

- - Direction X
- - - Di rection Y

~ 1.

etang ............

10'''' 0- 1
TOolllllale-nal
Worlq:lI ,celrll~lmal

1<Jc(Nlmm"2]

~
~

Kr.!Wmml

~
C2.C]
~

l n dAnll' n
A.Ioal RilkeAnlllen

~
~

~
[]

C:=J

l(a t>(NImm]

C:::J

.&.w:iaIOepltlof Cul(mml

l<ht{NImm)

Insell Comer Radluslmml

Radial Oepltl of Cul(rnrn!

Krc(Nlmm"2]

TOOl RadluslmmJ

InserlWi<llto[mm]

I . . . .707SfTS I

l<;Jc(NImm"21

Tool Flute Length[mml

lnserllengthjmml

1-0 ~----.o O eo-. ~ I

Splndl,Speed[rfrmn!
Feedratl'[mrntmln)

500

Tool Ib.noo..t

Tool Mo<IeI

~Mode~

1.....-

c==::J
c==::J

Simul~onParametl"

[0"'''''

[]

2000

250 0

Fig.4 FRFs of the Milling System used forverification test

The cutting forces are measured by a Kistler dynamometer
9257B mounted between the workpiece and the machining
table. Simulations and cutting tests were done under the
following cutting conditions for both up and down milling: the
axial depth of cut is 10 mm, the radial depth of cut is 3 mm,
the spindle speed is 4900 r/min and the feedrate is 1500
mm /min. Fig.5 shows comparison between the experimental
and the simulated cutting forces for up milling, and Fig.6
shows comparison between the experimental and simulated
cutting forces for down milling. Both figures show that the
simulated force profiles match the experimental ones rather
well, except some peaks are much prominent than others in the
measured cutting force profiles. It can be seen from these two
figures that the simulated time is 0.2 seconds, within which
the spindle has revolved 16 rotations and the prominent
cutting force peaks are exactly 16. So the prominent cutting
force peaks is caused by a prominent tooth of the tee slotting

......at S1ep Size

c==::J

1500

Frequency 1 Hz

~To;do-~
oes

1000

Fig.3 Interface of cutting forces simulation forteeslot milling

VII. EXPERIMENTAL VERIFICATION AND DISCUSSION
Verification tests were conducted in a 5-axis vertical
machining center JO'MACHI43. The maximal spindle speed
is 6000 r/min. The tool used for the cutting experiment is a 6flute carbide tee slotting cutter, the geometrical parameters of
which are shown in Table I ; the overhang length is 75 mm.

1441

cutter, which may result from the spindle tilt or the runout of
the teeth. Moreover, these two figures show that under the
same chip load, the cutting force normal to the feed direction
for up milling is much less than that for down milling.

.::

600

.::

~ -100

"'

600

.::

~ 500

><

fl.

.!

0.1

0.15

o !.lIUtIU!.IIJ.4Il!lIl~iJiIM
o
0.05
0 .1
0.15
0 .2

(b) Measured F,

800

fl.

600

il'

"E

400

"

u 200

0.05

0 .1

0.15

0 .10

0.15

!
s

0 .2

Time /s

Time /s

0.0

~ -0.0

:> -0.0

0.05

0.1

0 .15

0 .05

Time /s

0 . 01

6
'";ri
.~

0 .0

>:

0 . 00

O'-----~--~--~--~--~

10

13

16

Axi a l Depth of Cu t

-600

B -600

19 20

f mm

Fig .8 Tool vibration in Y direction vs. axial depth of cut under the same MRR
(n =5400 rlmin, Vf=2000 mm/min, MRR= 40 crn'zmin, up milling)
0 .0

6'

6'

o
"j"

-3

0.00

~ -0.00

.Q

~ -2

t>

-0 .0

0. 1

0.15

0 .05

- -- -0. 1
0 .15

Time /s

Time /s

~ -200

0. 15

0 .0

.~

0.1

Time /s

(a) Up Milling
(b) Down Milling
Fig.7 Simulation result to reveal a cutt ing process is stable or not
(n = 5400 rlmin, Vr= 2000 mm/min, a p = 20 mm , a c = 1.5 mm)

0.05

- 4 00 i

0 .15

0.0

-0.01"---

.~

0 .1

:~

:; -0.00

(a) Up Milling
(b) Down Millin g
Fig .9 Comparison of vibr ation of down milling with that of up milling
(n = 5400 rlmin, ap =20 mm, a,= 0.5 mm, Vf =2000 mm/m in)

c,

"'

0 .00

><

~ -200

!
s

.::

0 .05

Time /s

.Q

Simulations were done to reveal whether a milling process

corresponding to certain cutting conditions is stable or not.
The profile of the tool-tip vibration normal to feed direction in
Fig.7 (a) shows that the cutting process is stable (the
calculated statistical variance is 0.51 and less than the chatter
criterion) . The profile of the tool-tip vibration normal to feed
direction in Fig.7 (b) shows that the cutting process is chatter
(the calculated statistical variance is 8.36 and larger than the
chatter criterion).
When milling with a tee slotting cutter, except the first cut
has to be done with an axial depth of cut equals to the full
cutting edge length, the other runs of cut can be done with an
arbitrary axial depth of cut. Therefore, simulations were done
to reveal the relationship of the maximal tool-tip vibration in
Y direction with the axial depth of cut. The simulation result is
shown in Fig.8. Fig.8 shows that under a fixed MRR (Material
Removal Rate), with the increase of the axial depth of cut i.e.
the decrease of the radial depth of cut, the maximal tool-tip
vibrations norm to the feed direction decrease. As a positive
correlation between the roughness of the machined surface
and the maximal tool-tip vibration norm to the feed direction
is considered, a larger axial depth of cut is recommended to
select to obtain a better surface roughness.

0.2

-~

(c) Predicated F,
(d) Measured F,
Fig.5 Cutting force Comparison for down milling
(n = 4900 rlmin, Vr= 1500 mm/min, a p = 10 mm , a c = 3 mm)

.::

0 .15

0 .0

0.05

0 .2

0 .1

A large axial depth of cut i.e. a small radial depth of cut is

often used in tee slot milling, therefore , the radial immersion
angle for tee slot milling is often low. Fig. 9 shows that under
same cutting parameters, the tool-tip vibration norm to the
feed direction in up milling is much small than in down
milling. Therefore, in finish milling better surface finish can
be obtained when up milling is adopted.

Time /s

(a) Predicated F,

- 3 00

(d) Measured F,
(c) Predicated F,
Fig.6 Comparison of simulated and measured cutting force for up milling
(n = 4900 rim in, Vr = 1500 mm/min, a p = 10 mm , a c = 3 mm)

200

0 .2

a
Time /s

Time /s

<,

0 .05

300

100

0.05

-200

-400'-----~-~-~-~

400

.~

-400

VIII. CONCLUSIONS
- 8 0 0 WlL--'J....L-'.J..J.-'.J..J....LLJ...LLJLJ...LLLLL

0 .05

0. 1

0.15

0 .2

0. 10

0 .15

0.2

The following conclusion can be drawn from this paper :

(1) Based on the general geometrical model of a tee
slotting cutter, a dynamic cutting force model has been
developed, in which the dynamic regeneration effect and the

Time /s

Time /s

(a) Predicated

0 .05

/.~

(b) Measured F,

1442

tool runout parameter are taken into account. With the

developed model, the dynamic cutting forces, the powers, the
torques, the vibrations of the tool and part, as well as the
stability of its milling process can be predicated in the timedomain, which can be used as references for the determination
of the cutting conditions.
(2) Simulation results have demonstrated that a rather
small cutting force and tool-tip vibration normal to the feed
direction, and therefore a better machined surface roughness
can be achieved with the adoption of a large axial depth of cut
with the corresponding small radial depth of cut and up
milling for tee slot milling.
ACKNOWLEDGMENT

The author wishes to acknowledge with the financial

support of this research by scientific research project of Hunan
Provincial Educational Department under contract no. 08D096.
REFERENCES
1. Tlusty, F. Ismail, "Special aspects of chatter in milling". ASME
Journal ofEngineering for Industry, 1983, Vol 105, pp.24-32.
[2] A.C. Lee, C.S. Liu, S.T. Chiang, "Analysis of chatter vibration in a
cutter-workpiece system". International Journal Machine Tools
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[3] Y. Altintas, A. Spence, "End milling force algorithms for CAD
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