Numerical Simulation and Experimental Research on Cutting Force of Milling Deicing Robot Milling Cutter

Abstract

During deicing operations on transmission lines, the cutting forces generated by the milling cutter of a deicing robot exert significant reaction forces on the robot body. Excessive cutting forces can compromise the robot’s locomotion stability and deicing performance. This study introduces an optimization of the traditional straight-plate milling cutter by designing two new types of deicing milling cutters: oblique-cut and straight-cut milling cutters. The effects of cutter geometry, milling speed, and feed rate on cutting forces were systematically investigated using finite element simulations. A deicing test platform was constructed to validate the simulation results. The findings indicate that the cutting force hierarchy among the three designs is as follows: straight-plate > oblique-cut > straight-cut. Notably, the straight-cut milling cutter reduces cutting forces by 16–33% compared with the traditional straight-plate cutter. Furthermore, higher milling speeds and faster feed rates along the transmission line increase cutting forces. These studies provide valuable guidance for optimizing milling cutter designs in deicing robots.