Gabor Stepan1

e-mail: stepan@mm.bme.hu

Robert Szalai
e-mail: szalai@mm.bme.hu

Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, H-1521, Hungary

Brian P. Mann
e-mail: bmann@mae.u.edu Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611

Nonlinear Dynamics of High-Speed MillingAnalyses, Numerics, and Experiments

High-speed milling is often modeled as a kind of highly interrupted machining, when the ratio of time spent cutting to not cutting can be considered as a small parameter. In these cases, the classical regenerative vibration model, playing an essential role in machine tool vibrations, breaks down to a simplied discrete mathematical model. The linear analysis of this discrete model leads to the recognition of the doubling of the so-called instability lobes in the stability charts of the machining parameters. This kind of lobedoubling is related to the appearance of period doubling vibrations originated in a ip bifurcation. This is a new phenomenon occurring primarily in low-immersion high-speed milling along with the Neimark-Sacker bifurcations related to the classical self-excited vibrations or Hopf bifurcations. The present work investigates the nonlinear vibrations in the case of period doubling and compares this to the well-known subcritical nature of the Hopf bifurcations in turning processes. The identication of the global attractor in the case of unstable cutting leads to contradiction between experiments and theory. This contradiction draws the attention to the limitations of the small parameter approach related to the highly interrupted cutting condition. DOI: 10.1115/1.1891818

Philip V. Bayly
e-mail: pvb@mecf.wustl.edu Department of Mechanical Engineering, Washington University, St. Louis, MO 63130

Tamas Insperger
e-mail: inspi@mm.bme.hu Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, H-1521, Hungary

Janez Gradisek
e-mail: janez.gradisek@fs.uni-lj.si

Edvard Govekar
e-mail: edvard.govekar@fs.uni-lj.si Laboratory of Synergetics, University of Ljubljana, Ljubljana, SI-1000, Slovenia

Introduction
High-speed milling is one of the most preferred and efcient cutting processes nowadays. It is a challenging task for researchers to explore its special dynamical properties, including stability conditions of the cutting process and the nonlinear vibrations, which may occur locally, close to the stability boundaries, and the ones arising globally. These dynamical properties are mainly related to the underlying regenerative effect in the same way as it is in the case of the classical turning process having complicated but well-studied and understood stability properties. Still, some new phenomena appear for low-immersion milling as predicted by Davies et al. 1,2 and Bayly et al. 3. These phenomena were also reported by Insperger and Stpn 4,5 in the case of milling independently from the immersion or speed characteristic of the milling processes. Several approaches were used to explore the complex and in1 Address for correspondence: Budapest University of Technology and Economics, Department of Applied Mechanics, Budapest, 1521, Hungary. Contributed by the Technical Committee on Vibration and Sound for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received December 23, 2003, nal revision, June 10, 2004. Associate Editor: S. Natsiavas.

triguing phenomena of milling chatter. Analytical methods see 2,3,59, numerical techniques 1012, experimental tests 3,13, and their signal analysis 14 are all of key importance in understanding the dynamics of milling. High-speed milling usually means also low immersion with a relatively small number 24 of cutting edges on the tool. Consequently, there is either no contact between the tool and the workpiece, or there is only one edge in contact for a relatively short time. In these cases, highly interrupted machining can well approximate the whole machining process. In the simplest models of highly interrupted machining, the ratio of time spent cutting to not cutting is a small parameter. This leads to a mechanical model where the free vibration of the tool is perturbed periodically by an impact to the workpiece. This impact results in a sudden change in the tool oscillation velocity and it depends on the actual chip thickness, that is, on the difference of the present and the previous tool position as described by the classical regenerative effect. In the subsequent sections, the simplest possible, but still nonlinear, highly interrupted cutting model is described. The resulting discrete mathematical model is two dimensional and nonlinear. The linear stability analysis is presented in the same form as it APRIL 2005, Vol. 127 / 197

Journal of Vibration and Acoustics

Copyright 2005 by ASME

 t = cx t kxt + Fx Fx, mx

t t j , t j ,

where the usual condition of the classical impact theory is applied: all the forces except the contact ones actually, except the cutting force are negligible. The initial conditions are as follows x j = xt j xt j, t j . v j =x 5 The nonlinear cutting force can be calculated in accordance with 3 the experimentally veried 4 rule see 15 Fx = Kwh3/4 = Kwh0 + xt xt3/4 Kwh0 + x j1 x j3/4 where w is the chip width and K is an experimentally identied constant parameter. The Taylor series of this cutting force with respect to the chip thickness deviation x j1 x j assumes the form
Fig. 1 Mechanical model of highly interrupted cutting

Fx F0x + k1x j1 x j

1 5 k1x j1 x j2 + k1x j1 x j3 8h0 96h2 0 6

appears in the specialist literature. The bifurcation analysis is carried out along the stability limit related to period doubling bifurcation. This requires center manifold reduction and normal form transformation. The tedious algebraic work can be carried out in closed form and leads to a phenomenon similar to the one experienced in the case of the Hopf bifurcation in the turning process. Since the ip bifurcation turns out to be subcritical, the existence of the unstable period-2 vibration does not explain the stable period-2 oscillations presented by the experiments carried out for high-speed milling. A global, period-2 attractor is found in the low-immersion milling model analytically, but its structure is in contradiction with the one obtained from the measurements. The concluding part of the paper explains this contradiction with the limitations of the small parameter approach in the low-immersion milling model.

where the stationary cutting force F0x and the so-called cutting coefcient k1 assume the form F0x = Kwh3/4 0 , respectively. k1 = 3 Kw , 4 h1/4 0 7

Discrete Mathematical Model

The solution of the impact equation 4 for the contact time interval assumes the form mv j v j = Fx , that is,
vj =

Mechanical Model
The simplest possible one degree-of-freedom DOF model of highly interrupted cutting is presented in Fig. 1. The number of the cutting edges is only one, and it is in contact with the workpiece material periodically with time period . The time it spends in contact is where the small parameter 1 is the ratio of time spent cutting to not cutting. The elastic tool is characterized by the angular natural frequency n, the relative damping factor , and the angular frequency of the damped oscillation d:

k1x j1 x j2 F0 + k1x j1 x j + v j m m 8mh0

+ 5 96mh2 0 k1x j1 x j3 , 8

n = k/m,

= c / 2 m n ,

d = n1 2 .

where x j and v j can be calculated as a linear function of x j1 and v j1 by means of the well-known solution of the equation of motion 2 of the free damped oscillation of the tool with the initial conditions 3. With the above-determined coefcients we can construct the nonlinear discrete model

The theoretical chip thickness is h0. The actual chip thickness is either zero for no contact or ht j = h0 + xt j xt j , 1 where t j is the initial time instant of the jth contact period between the tool and the workpiece j = 1 , 2 , . . . . We consider that the contact time is so short that the position of the tool, and also the chip thickness, does not change during this time. This approximation is deeply analyzed and justied by Davies et al. 2, and conrmed also experimentally by Bayly et al. 3. Thus, the equations of motion can be constructed for the two parts of the tool motion in the following way. For the free ight of the tool, we have t + 2nx t + 2 x nx t = 0 t t j , t j with initial conditions x j1 = xt j1 xt j1 , t j1 , v j1 = x 3 2

xj
vj

=A

x j1

0
h+k=2,3;h,k0

v j1

k + bhkxh j1v j1 F 0x m

where the coefcient matrix of the linear part assumes the form A=

A11 A12 A21 A22

The following scalar elements of the above coefcient matrix can be calculated from the corresponding solutions of the series of free-ights and impacts of the tool: A11 =

1 2 cos d
n1 2
en sin d

en

A12 =

A21 =

nen

1 2

sin d +

where, again, we consider that the position of the tool does not change much during the short contact period. For the contact period, we have 198 / Vol. 127, APRIL 2005

A22 =

1 2

en

en k1 1 1 2 cos d m

cosd +

k1 sin d mn

10

Transactions of the ASME

Neimark-Sacker (or Hopf) Bifurcation

At the stability boundary 14 of quasi-periodic self-excited vibrations, the eigenvalues of the coefcient matrix A are complex conjugate: 1,2 = exp i, 1,2 = 1. With the help of the corresponding critical eigenvectors and the new variables and , system 9 can be transformed into

cos

sin

sin cos

j1

j1

h+k=2,3;h,k0

k chkh j1 j 1 k dhkh j1 j 1

h+k=2,3;h,k0

Fig. 2 Stability chart stable region shaded

In these formulas, the phase angle satises tan = / 1 2. The lengthy expressions of the coefcients bhk in the nonlinear terms are determined from Eqs. 2, 3, and 8. They are not presented here.

Linear Stability
The linear stability analysis of stationary cutting is based on the characteristic equation of the linear part of the difference equation 9: detI A = 0. 11 In stable cases, the characteristic multipliers 1,2 are located in the open unit disc of the complex plane. The stability boundaries in the stability chart of Fig. 2 are calculated from the condition 1,2 = 1. 12 The chart is constructed in the plane of the dimensionless cutting speed and dimensionless chip width dened by = = 2 , n n

To carry out the bifurcation calculation, there is no need for center manifold reduction in this case, but the normal form calculation is quite complicated see 17. The nal result of the lengthy algebraic work can be found in 18: the bifurcation is subcritical. This means that unstable quasi-periodic motion exists around the stable stationary cutting in the neighborhood of the Neimark-Sacker-type stability limits. The details of this calculation are not presented here, because it is unclear at the moment what kinds of vibrations occur globally outside these unstable quasi-periodic oscillations. In the subsequent sections, however, the analysis of the ip bifurcation and the global attractors are given.

Period Doubling Bifurcation

At the stability boundary 15 of period doubling vibrations, the eigenvalues of the coefcient matrix A are 1 = 1, 2 = ensinhn + cosd , 16 where 2 1. With the help of the corresponding critical eigenvectors s1 =

sind n cosd den 1 sind n

k k1 3 K = 1= w = w, 4 4 k k m2 h0 n

13

s2 =

respectively. The analysis of 11 with 10 and 12 shows that there are two kinds of loss of stability: Neimark-Sacker or secondary Hopf bifurcation occurs when 1,2 = expi at cr = 2 w

sind + 1 2 sinhn

1 2 sinhn
n
sind

the Jordan transformation matrix can be constructed in the form T = s1 s2, and the new variables and are introduced in accordance with

14

x
v

=T

17

and period doubling or ip bifurcation occurs when 1 = 1 at cr = w In both cases,

1
n
2 ,

coshn + cosd . sind 2 1 2

This way, and also by using a constant shift transformation, system 9 can be transformed into

15

1 0 j = 0 2 j

j1 + j1

n =

d =

h+k=2,3;h,k0

k chkh j1 j 1 k dhkh j1 j 1

h+k=2,3;h,k0

, 18

have to be substituted in 14 and 15 in accordance with 13 to get closed forms of the stability boundaries. The bifurcations along the stability limits can be distinguished with the help of the vibration frequencies of the self-excited vibrations. Above the stability chart of Fig. 2, these frequencies are presented in dimensionless form for =

. n

The full structure of these frequencies is presented and veried in 16 experimentally, too. Journal of Vibration and Acoustics

where 2 is given in 16, and the coefcients chk, dhk of the nonlinear terms are obtained from the coefcients bhk in 9 with the same linear transformation 17. In 18, one can calculate the second degree approximation of the center manifold. In this case, the center manifold is a curve in the x , v plane tangent to the subspace spanned by the eigenvector s1 corresponding to the critical eigenvalue 1 = 1 and tangent to the axis in the , plane. The solutions of Eq. 18 converge to this manifold, since 2 1 is true always for the other eigenvalue of the linear coefcient matrix A see 17. The second order approximation of the center manifold then simply reads APRIL 2005, Vol. 127 / 199

=
where the parameter d20 =

d20 2 + , 1 2

19

cosd + coshn n sind 2h0 cosd + coshn + 2 sinhn 20

is the result of a lengthy algebraic calculation. The ow restricted on this center manifold is described by the scalar one-dimensional discrete dynamical system

j = j1 + c202 j 1 + c30 + c11

d20 3 . 1 2 j1

21
Fig. 3 Iteration xj , vj, stable period-1 P1 and unstable period-2 P2 solutions, and center manifold CM

The second degree term of 21 can be eliminated by means of a near-identity nonlinear transformation

=u+
to obtain the normal form

c20 2 u + 2

22

u j+1 = 1 + u j + u3 j

23

with = 0 for the unperturbed case. In the perturbed normal form 23, is a small positive perturbation of the critical characteristic multiplier 1 = 1. Then the sub- or supercritical nature of the period-2 solution is determined by the parameter , since the amplitude of the emerging period-2 vibration is estimated by r = / . 24 If 0, then the ip bifurcation is supercritical; if 0, then it is subcritical. The parameter similar to the Poincare-Lyapunov constant of the Hopf bifurcation is the result of a long algebraic calculation also checked by computer algebra:

= c2 20 + c30 +
= 5

c11d20 1 2

sin2dcosd + coshn 12h2 0 cosd + coshn + 2 sinhn 25

0.

Since the sign of is always negative, the ip bifurcation is subcritical, just as it is for the Hopf bifurcation of turning or the Neimark-Sacker bifurcation of high-speed milling. This means that an unstable period-2 motion limit cycle exists around the stable period-1 motion stable x point of the iteration. This subcritical ip bifurcation is also checked via some simple simulation of the map 9 at certain realistic parameter values. Figure 3 presents an iterate starting at x0 , v0. The iteration ts perfectly to the theoretically predicted center manifold 19, the stable period-1 oscillation represented by P1 as a xed point of 9, and the unstable period-2 oscillation represented by the points P2 calculated with the help of 24 and 25. The subcritical period doubling bifurcation is also shown in the corresponding bifurcation diagram of Fig. 4. The bifurcation diagram is constructed at the constant dimensionless cutting speed = 2.2 denoted by an arrow in the stability chart of Fig. 2 around cr = 0.05. the critical dimensionless chip width w

speed milling, too. A scenario is described below in the neighborhood of the period doubling bifurcation denoted by the thick arrow in Fig. 2. It is reasonable to consider that outside the unstable period-2 oscillation, there is a parameter region where the tool leaves the workpiece, more exactly, it does not enter the workpiece at each revolution. For example, the existence of a stable period-2 oscillation can be expected, where the tool enters the workpiece only at every second round, and it ies over the possible contact region in between. This means, for example, that a milling tool with two cutting edges will operate in a peculiar way: only one of the edges will enter the workpiece after each revolution of the tool, while the other edge will always y without any contact with the workpiece. Analytical calculations conrm this hypothesis at certain parameter regions. If a discrete mapping is constructed in a way that two free-ight periods described by 2 and 3 are connected to one impact-like cutting period described by 4 and 5, another nonlinear discrete mapping can be constructed, similar to 9. The analysis of this even more complicated mapping proves the existence of stable period-2 oscillations outside the unstable period-2 oscillations see details in 18. Numerical simulations clearly conrm the analytical predictions. The simulation results also show that the tool does not reach the workpiece in each tooth pass period when it operates in an unstable parameter regime. In Fig. 4, the bifurcation diagram is calculated numerically in the neighborhood of the ip bifurcation 2.2, w cr 0.05. The unstable period-2 vibration presented at cr by a broken line is the result of the analytical prediction. They are also identied numerically by a simple kind of shooting method. The existence of a likely turning point of the stable and unstable period-2 oscillations has not been explored yet. The path-following of the stable period-2 oscillation shows that

Global Dynamics with Fly-Overs

Since the bifurcations are subcritical either for the period doubling bifurcations or for the secondary Hopf bifurcations, unstable period-2 or unstable quasi-periodic oscillations exist around the otherwise stable stationary cutting in the case of high-speed milling in a similar way as it is in the case of simple turning see 19,20. The study of low-immersion cutting outside the unstable motions helps to understand the global behavior of high200 / Vol. 127, APRIL 2005

Fig. 4 Bifurcation diagram

Transactions of the ASME

Fig. 5 Experimental unstable cutting

stability

chart

stable

cutting,

the stable period-2 motion can bifurcate to chaotic oscillations at see Fig. increasing values of the dimensionless chip thickness w 4.

Experiments on Stable Period-2 Oscillation

The stability chart of Fig. 5 was veried experimentally in 13. The mechanical parameters m = 2.586 kg, k = 2.2 106 N / m, and c = 18.13 Ns/ m of the experimental setup resulted in the modal parameters n / 2 = 146.8 Hz, = 0.0038. Based on the experimental results of 21, the cutting force parameter was chosen to the reasonable value K = 1.9 108 Nm1.75. Aluminium test samples of width 6.35 mm were centrally milled by means of a 19.05 mm diameter carbid end mill with a single ute the second ute was ground off. Feed was h0 = 0.1016 mm. The ratio of the time spent cutting to the tooth pass period was = 0.1082. The nonlinear oscillations were not analyzed at that time, but the quasi-periodic secondary Hopf or the period doubling characters of the bifurcations were clearly identied using Fourier transformations of the signals see Fig. 5. Although the spectral analysis of the signals can provide enough evidence on the correctness of the linear predictions, further signal analysis should also prove the above-described y-over effect in the stable period-2 oscillation. The signals, however, are too noisy to reconstruct the phase space trajectories. The application of the method of Gradiek et al. 14 gives the possibility to extract the deterministic component of noisy signals. Using the measurement data sampled stroboscopically by ts = / 100 and using the classical technique of presenting the trajectory in the space of 8ts-delayed coordinates, the path of the tool can be reconstructed. One can do this reconstruction without making high-speed camera shots of the cutting process that has a high-speed dynamics, anyway. The measurement points where the deterministic trajectory reconstruction is presented are denoted by A, B, and C in the experimental stability chart of Fig. 5. The trajectories are observable in the phase plane of two displacements delayed by eight sampling periods. In Fig. 6, the original gray cloud already refers to the quasi-periodic oscillation at A, the stable milling exhibiting a period-1 oscillation at B, and a period-2 oscillation at C. The reconstructed deterministic trajectories are the black ones; these show the structure of the corresponding vibrations even clearer. The black dots refer to those regions where the tool is most likely to be in contact with the workpiece. The stable period-2 oscillation is there at the lowest picture of Fig. 6, but its structure is not the one predicted in the above theory: the tool seems to hit the workpiece at each tooth pass period, and the predicted yover effect at every second tooth pass does not show up in the experiments. One possible explanation for this contradiction is based on the weakness of the condition on impact-like cutting, that is the parameter, , which describes the ratio of time spent cutting to tooth Journal of Vibration and Acoustics

Fig. 6 Reconstructed experimental trajectories at parameter points A, B, and C grayexperimental trajectories, black ltered trajectory; dots refer to tool/workpiece contact, continuous black lines refer to tool free-ight above workpiece

pass period, cannot be considered as a small parameter even when it is in the range of 0.1 only. The following calculations of stable period-2 oscillations conrm this hypothesis.

Collocation Method for Period-2 Motions

If the impact condition is dropped in Eq. 4 describing the contact period between the tool edge and the workpiece, then the APRIL 2005, Vol. 127 / 201

Fig. 8 Tooth path during period-2 oscillation

Fig. 7 Numerically determined stable period-2 oscillation of tool trajectory and time-history continuous line means contact, means tool above possible contact, dashed line means-free-ight

spring and damping terms are not negligible compared to the cutting force Fx. Also, the tool may leave the workpiece material during the short possible contact period , so it is not only the sudden velocity variation that is taken into account in the mathematical model, but also the variation of the displacement. This means that the actual contact time can be shorter than . With the help of the so-called collocation method see 22, the path of the tool is described by means of approximating polynomials. By the use of an appropriate periodic boundary condition, = 0.425 and w stable period-2 solutions are determined at = 0.90 with = 0.1. The phase plot and also the time-history of such a motion are presented in Fig. 7. This result is in good qualitative agreement with the experimentally identied and analyzed motion in part c of Fig. 6. Actually, the remnants of the y-over effect are also there: the small circles along some short pieces of the period-2 trajectory refer to those parts of the motion where the tool could be in contact with the workpiece, but it leaves the workpiece material slightly earlier at one round see Fig. 8 and it enters the workpiece material a bit later at the subsequent round, and so on. This gives period-2 character to the vibration in a somewhat more sophisticated way than it was in the case of the straight y-over effect.

bling bifurcations are subcritical. This result is similar to the results of Stpn and Kalmr-Nagy 19 and Kalmr-Nagy, Stpn, and Moon 20 obtained for the Hopf bifurcation of regenerative machine tool vibrations in the case of turning. The approximate amplitude of the unstable limit cycle was also determined in closed form. This gives a useful estimation for the domain of attraction of stable stationary cutting in the case of high-speed milling. The analysis of the impact-like model of high-speed milling also proves the existence of period-2 stable vibrations outside the unstable period-2 motions. During these stable motions the tool edges miss every second possibility to contact the workpiece. This is the phenomenon called y-over effect. The experiments conrm the linear stability predictions and also the existence of the stable period-2 vibrations in the case of unstable stationary cutting. The phase space reconstruction and the extraction of the deterministic component do not show, however, the special y-over property found in the impact-like cutting model. The stable period-2 motions identied by the collocation method prove that the ratio of time spent cutting to not cutting cannot be considered as a small parameter any more in the range of 10%. The analysis of the experimental data shows an asymmetric tool/workpiece contact during the stable period-2 oscillations. The y-over effect can be considered as an extreme limit case of this asymmetry when the ratio of time spent cutting to not cutting is really close to zero and the impact-like cutting force model works well also for the nonlinear dynamics of the system. This explains the contradiction between the experimental and theoretical results regarding the structure of global attractors in highspeed milling.

Acknowledgments
This research was supported by the Hungarian National Science Foundation under Grant Nos. OTKA T043368/03 and OTKA F047318, the U.S. National Science Foundation Grant Nos. DMI9900108 GOALI, and CMS-9625161 CAREER, the U.S. National Defense Science and Engineering Graduate Fellowship, and the Magyary Zoltan Postdoctoral Fellowship of Foundation for Hungarian Higher Education and Research.

Nomenclature
c F F0 h h0 k K m t tj damping factor, Ns/m actual cutting force, N stationary theoretical cutting force, N actual chip thickness, m theoretical chip thickness, m stiffness, N/m cutting force parameter, Nm1.75 modal mass, kg time, s time instant of jth tool/workpiece contact, s Transactions of the ASME

Conclusion
The nonlinear analysis of the highly interrupted low immersion milling shows that both the Neimark-Sacker and the period dou202 / Vol. 127, APRIL 2005

x v w wcr

n d

displacement of tool relative to workpiece, m velocity of tool relative to workpiece, m/s chip width, m critical chip width at stability limit, m phase angle ratio of times spent cutting to not cutting time delay, tooth pass period, s relative modal damping factor undamped natural angular frequency, 1/s damped natural angular frequency, 1/s angular velocity of workpiece or tool, 1/s notation for dimensionless quantities

References
1 Davies, M. A., Pratt, J. R., Dutterer, B., and Burns, T. J., 2000, The Stability of Low Immersion Milling, CIRP Ann., 49, pp. 3740. 2 Davies, M. A., Pratt, J. R., Dutterer, B. S., and Burns, T. J., 2002, Stability Prediction for Low Radial Immersion Milling, ASME J. Manuf. Sci. Eng., 1242, pp. 217225. 3 Bayly, P. V., Halley, J. E., Mann, B. P., and Davies, M. A., 2001, Stability of Interrupted Cutting by Temporal Finite Element Analysis, 19th Biennial Conference on Mechanical Vibration and Noise, ASME 2001 Design Engineering Technical Conferences, Pittsburgh, DETC2001/VIB-21581. 4 Insperger, T., and Stpn, G., 1999, Regenerative Vibration of Milling Process, Proceedings of Dynamics and Control of Mechanical Processing, Budapest, pp. 7579. 5 Insperger, T., and Stpn, G., 2000, Stability of High-Speed Milling, Proceedings of ASME Symposium on Nonlinear Dynamics and Stochastic Mechanics, Orlando, FL, AMD-241, pp. 119123. 6 Altintas, Y., and Budak, E., 1995, Analytical Prediction of Stability Lobes in Milling, CIRP Ann., 441, pp. 357362. 7 Corpus, W. T., and Endres, W. J., 2000, A High-Order Solution for the Added Stability Lobes in Intermittent Machining, Proceedings of the Symposium on Machining Processes, Orlando, MED-11, pp. 871878.

8 Tian, J., and Hutton, S. G., 2001, Chatter Instability in Milling Systems with Flexible Rotating SpindlesA New Theoretical Approach, ASME J. Manuf. Sci. Eng., 1231, pp. 19. 9 Insperger, T., Mann, B. P., Stpn, G., and Bayly, P. V., 2003, Stability of Up-Milling and Down-Milling, Part 1: Alternative Analytical Methods, Int. J. Mach. Tools Manuf., 431, pp. 2534. 10 Balachandran, B., 2001, Non-Linear Dynamics of Milling Process, Philos. Trans. R. Soc. London, 359, pp. 793820. 11 Zhao, M. X., and Balachandran, B., 2001, Dynamics and Stability of Milling Process, Int. J. Solids Struct., 3810-13, pp. 22332248. 12 Schmitz, T. L., 2002, Automatic Trimming Of Machining Stability Lobes, Int. J. Mach. Tools Manuf., 42, pp. 14791486. 13 Mann, B. P., Insperger, T., Bayly, P. V., and Stpn, G., 2003, Stability of Up-Milling and Down-Milling, Part 2: Experimental Verication, Int. J. Mach. Tools Manuf., 431, pp. 3540. 14 Gradiek, J., Friedrich, R., Govekar, E., and Grabec, I., 2002, Analysis of Data from Periodically Forced Stochastic Processes, Phys. Lett. A, 2943-4, pp. 234238. 15 Tlusty, J., 2000, Manufacturing Processes and Equipment, Prentice Hall, Englewood Cliffs, NJ. 16 Insperger, T., Stpn, G., Bayly, P. V., and Mann, B. P., 2003, Multiple Chatter Frequencies in Milling Processes, J. Sound Vib., 2622, pp. 333345. 17 Guckenheimer, J., and Holmes, P., 1986, Nonlinear Oscillation, Dynamical Systems and Bifurcation of Vector Fields, Springer-Verlag, New York. 18 Szalai, R., 2002, Nonlinear Vibrations of Interrupted Cutting Processes, M.Sc thesis, Budapest University of Technology and Economics. 19 Stpn, G., and Kalmr-Nagy, T., 1997, Nonlinear Regenerative Machine Tool Vibration, Proceedings of the 17th Biennial Conference on Mechanical Vibration and Noise, ASME Design Engineering Technical Conferences, Sacramento, DETC97/VIB-4021. 20 Kalmr-Nagy, T., Stpn, G., and Moon, F. C., 2001, Subcritical Hopf Bifurcation in the Delay Equation Model for Machine Tool Vibrations, Nonlinear Dyn., 26, pp. 121142. 21 Halley, J. E., 2000, Stability of Low Radial Immersion Milling, M.Sc thesis, Washington University, St. Louis, MO. 22 Engelborghs, K., Luzyanina, T., Hout, K. J., and Roose, D., 2000, Collocation Method for the Computation of Periodic Solutions of Delay Differential Equations, SIAM J. Sci. Comput. USA, 225, pp. 19531609.

Journal of Vibration and Acoustics

APRIL 2005, Vol. 127 / 203