ARTICLE IN PRESS

International Journal of Machine Tools & Manufacture 47 (2007) 13421350 www.elsevier.com/locate/ijmactool

Modeling of spindle-bearing and machine tool systems for virtual simulation of milling operations
Yuzhong Cao, Y. Altintas
Department of Mechanical Engineering, University of British Columbia, 2054-6250, Applied Science Lane, Vancouver, BC, Canada V6T 1Z4 Received 27 June 2006; received in revised form 26 July 2006; accepted 3 August 2006 Available online 9 October 2006

Abstract This paper presents a general, integrated model of the spindle bearing and machine tool system, consisting of a rotating shaft, tool holder, angular contact ball bearings, housing, and the machine tool mounting. The model allows virtual cutting of a work material with the numerical model of the spindle during the design stage. The proposed model predicts bearing stiffness, mode shapes, frequency response function (FRF), static and dynamic deections along the cutter and spindle shaft, as well as contact forces on the bearings with simulated cutting forces before physically building and testing the spindles. The proposed models are veried experimentally by conducting comprehensive tests on an instrumented-industrial spindle. The study shows that the accuracy of predicting the performance of the spindles require integrated modeling of all spindle elements and mounting on the machine tool. The operating conditions of the spindle, such as bearing preload, spindle speeds, cutting conditions and work material properties affect the frequency and amplitude of vibrations during machining. r 2006 Elsevier Ltd. All rights reserved.
Keywords: Spindle; Chatter vibration; Finite element method; Milling

1. Introduction The successful application of high-speed machining technology is highly dependent on spindles operating free of chatter vibration without overloading the angular contact ball bearings. Unless avoided, vibration instability in the metal-cutting process leads to premature failure of the spindle bearings [1]. The spindle, tool-holder, and tool are the main sources of chatter vibrations on high-speed machines. The objective of the design engineer is to predict the cutting performance of the spindle during the design stage by relying on engineering model of the process and system dynamics. Early spindle research focused mainly on static and quasi-static analysis, whereas current research is extended to optimal design by using dynamic analysis. Ruhl et al. [2] is one of the earliest researchers to use the nite element
Corresponding author. Tel.: +1 604 822 5622; fax: +1 604 822 2403.

E-mail addresses: yzcao@mech.ubc.ca (Y. Cao), altintas@mech.ubc.ca (Y. Altintas). 0890-6955/$ - see front matter r 2006 Elsevier Ltd. All rights reserved. doi:10.1016/j.ijmachtools.2006.08.006

(FE) method for modeling of rotor systems. His model includes translational inertia and bending stiffness but neglects rotational inertia, gyroscopic moments, shear deformation, and axial load. Nelson [3] used the Timoshenko beam theory to establish shape functions and formulate system matrices, including the effects of rotary inertia, gyroscopic moments, shear deformation, and axial load. In the past, little research has been conducted to model the coupling of bearings and spindles. The effects of preload and spindle speeds on bearing stiffness and the dynamics of the spindle system are seldom studied. Wardle et al. [4] presented a very simplied model for describing the dynamics of a spindle-bearing system with a constant preload. The theoretical maximum operating speed of the spindle system is increased by maintaining a constant preload, but Wardle neglected the softening of bearing stiffness due to rotational speeds. Chen et al. [5] built a model for determining the response of a spindle-bearing system at high speeds with an analytical method. His model considers the spindle as a uniform EulerBernoulli beam

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Nomenclature A E G I J N P k m O r Dm Jb K i; K o cross sectional area of the beam Youngs modulus of material shear modulus of material diametral moment of inertia for the beam polar moments of inertia for the beam number of bearing balls for each bearing axial force on the beam index of bearing balls mass of the bearing ball rotational speed of the shaft density of material pitch diameter of the bearing measured from the ball center mass moment of inertia for the bearing ball contact constants between bearing balls and inner rings, outer rings, respectively, depending on the geometry and the material of the bearing balls and bearing rings transverse shear form factor, ks is 0.9 for the circular cross-section beam

my ; mz distributed moments per unit length about axes y and z, respectively OE orbital speed of the bearing ball OB angular speed of the bearing ball about its own center ak angle between the vector of the bearing balls angular velocity about its own center and shaft axis di ; do normal contact deformations between the centers of the ball and inner ring, and the ball and outer ring, respectively d1 ; d4 displacement vectors of the shaft and housing, respectively d2 ; d3 displacement vectors of inner and outer ring, respectively dix ; diy ; diz ; giy ; giz displacements of the inner ring do ; do ; do ; go ; go displacements of the outer ring x y z y z yi ; yo inner and outer ring contact angles of the bearing yy ; yz rotations about axes y and z, respectively

ks

supported by a pair of angular contact bearings. Using Jones [6] bearing model, Chen analyzed the dynamic behavior of the spindle around the trivial equilibrium conguration with zero end loads. Only the axial preload is considered in this model. First, the NewtonRaphson iteration method is used to calculate the bearing stiffness matrix at a given spindle speed, then the dynamic behavior is computed at this speed using the obtained bearing stiffness. Li and Shin [7] presented a coupled spindlebearing model that includes thermal effects to predict the bearing stiffness and natural frequencies of the spindle system, using DeMuls bearing model. The bearing conguration, however, is limited to several cases and the gyroscopic effect is not included. All of the above models predict the natural vibration and frequency response for a specic spindle design, and consider only the spindle shaft and bearings. The effects of the machine tool on the spindle dynamics are neglected. Neither centrifugal force nor gyroscopic effect is included in modeling the spindle shaft. The contact forces on bearing balls and the time response of the spindle-bearing system under dynamic cutting forces have not been reported in the literature. In this paper, a general method is presented for modeling the spindle machine tool system, which consists of the cutter, tool-holder, spindle shaft, bearings, housing, and the machine tool. A simplied model, representing the dynamics of the whole machine tool without the spindle, is developed by means of experimental modal analysis which needs to be done only once for every machine tool. The model of the whole machine tool system is then created by coupling the spindle model developed by the authors [8,9] with the simplied

model of the machine tool without the spindle. The assembly of the spindle unit and spindle head is modeled through contact springs. The proposed method is validated by performing frequency response and cutting tests. 2. FE model of spindle-bearing and machine tool system An instrumented, experimental spindle is mounted on a vertical machining center. The spindle moves vertically with the spindle head, which travels on the guideway attached to the machine column. The spindle head acts like a cantilever beam elastically supported on the column due to the contact with the guideway, therefore, the exibility of the spindle mounting has to be reected in the model of the spindle-machine system. The spindle has ve bearings in overall back-to-back conguration as shown in Fig. 1. Three rear bearings are placed in a oating housing, which can be moved by a hydraulic preload unit. Through a hydraulic pump, the preload is applied to the rear bearings by the oating housing. At the same time, the force is transmitted to the spindle shaft by the nut, and moves towards the rear. As a result, the force is applied to the front bearings through step A of the spindle shaft. The spindle housing prevents the spindle shaft from moving further to the rear by step B of the spindle housing. The whole spindle is self-balanced in the axial direction under the preload. A general FE model of the spindle-bearing and machine tool system is presented (Fig. 1). The Timoshenko beam is used to model the spindle shaft and housing. In the FE model, the black dots represent nodes, and each node has three translational displacements in the X-, Y-, and Z-axes,

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Displacement sensors Step A Spindle nose Step B Bearing housing Nut

Preload Tool Toolholder Housing Shaft Hydraulic fluid Bearing Pulley Clamping unit

Tool and tool-holder Shaft Pulley B3 Preload A2 A3 B4 A4 B5 A5 Housing Spindle head

Inner ring Outer ring

B1 A1

B2

Node Spacer

Bearing

Rigidly connected

Movable Rotation spring

Linear spring

Fig. 1. An experimental spindle and its Finite Element Model.

and two rotations about the Y- and Z-axes. The pulley is modeled as a rigid disk, the bearing spacer as a bar element, and the nut and sleeve as a lumped mass. The spindle has two front bearings (nos.1 and 2) in tandem and three bearings (nos. 35) in tandem at the rear. The preload is applied on the outer ring dened as node A3, which can move along the spindle housing with nodes A4 and A5. The forces are transmitted to inner rings B3B5 through bearing balls, then to the spindle shaft through inner ring B5, which is xed to the spindle shaft. Finally, the forces are transferred to the front bearings by inner ring B1, which is also xed to the spindle shaft, then to the housing by outer ring A2, which is xed to the housing. An initial preload is applied during the assembly, and can be adjusted later through the hydraulic unit. The inner ring and outer ring of the bearing are related by nonlinear bearing equations, from which bearing stiffness is obtained by solving equations of the spindle machine tool system. The tool is assumed to be rigidly connected to the tool holder which is xed to the spindle shaft rigidly or through translational and rotational springs. An equivalent cylinder is used to represent the spindle head. First, the modal parameters are identied for the spindle head before the spindle is installed. Then, two dominant modes from experimental modal analysis are used to congure a simplied model for the spindle head by using springs and the mass of the spindle head. The spring constants are estimated through the mass and natural frequencies of the spindle head. Springs

are also used between the spindle housing and spindle head, whose stiffness is obtained experimentally. The modeling of each part is described as follows. 2.1. Equations of motion for the spindle shaft with rotating effects The equations of motion for the spindle shaft with centrifugal force and gyroscpic moment due to the rotating are as follows [8]: rA d2 u q2 u EA 2 qx 0, dt2 qx !   d2 v q qv qv ks AG yz P rA 2 qy dt qx qx qx

O2 rAv 0, !   d2w q qw qw ks AG yy P rA 2 qz dt qx qx qx   d2 yy q2 yy dyz qw yy EI 2 ks AG rI 2 OrJ qx dt dt qx   dyy d yz q2 yz qv yz EI 2 ks AG OrJ qx dt2 dt qx

2

O2 rAw 0

my 0,

rI

mz 0.

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Eq. (1) is also suitable for the spindle housing by setting spindle speed to zero. The following equations of the spindle shaft and housing in matrix forms can be obtained by using the FE method: _ bM b cfqg ObG b cfqg bK b c bK b cP O2 bM b cC fqg fF b g, 2 where bMbc is the mass matrix, bMbcC is the mass matrix used for computing the centrifugal forces, bGbc is the gyroscopic matrix which is skew-symmetric, bKbc is the stiffness matrix, bKbcP is the stiffness matrix due to the axial force, and {Fb} is the force vector, including distributed and concentrated forces. The superscript b represents the spindle shaft and housing. The details of the matrices are shown in our earlier publication [8]. The damping matrix is not included here, and is estimated from experimentally identied modal damping, which is mostly constant for each spindle-bearing family developed by the manufacturers. The bar element takes only the axial stiffness of the beam element, and the rigid disk is treated as a short beam with a large diameter by setting the Youngs modulus to zero. 2.2. Nonlinear bearing model Jones bearing model, which considers the bearing balls and rings as elastic parts, is used in this paper, see Fig. 2. The Hertzian contact theory is used to calculate the contact force and displacement. Contact forces between the bearing ball and bearing rings: Q i K i di ;
3=2

M g J bO

OB O

  OE sin a. O

(5)

The force acting on the bearing ring is F

N X f di ; do ; d2 ; d3 ; yi ; yo ; Qi ; Qo ; F c ; M g . k1

(6)

The derivative of force with respect to the displacement is the bearing stiffness matrix as follows [8]: " # KI KI KB , (7) Ko Ko where KI and Ko are 5 5 matrices. The bearing stiffness matrix depends on the displacements which are in turn affected by the stiffness of the bearing. 2.3. Modeling of machine tool without the spindle In order to avoid complex modeling of the whole machine tool, a simplied model is used to simulate the dominant vibration of the machine tool without the spindle system. The spindle head is a casting which connects the spindle to the machine tool (Fig. 3); therefore, it is used to represent the dynamics of the whole machine tool for the purpose of structural assembly of the spindle. The dynamics is different in the X- and Y-directions because of the asymmetry of the spindle head and machine column. The experimental modal analysis in the X-direction is presented here; however, the same method is applied in the Y-direction. An equivalent cylinder is used to represent the spindle head. Both translational and rotational stiffness of the springs supporting the spindle head is estimated by using two dominant modes from the modal analysis. The same equivalent cylinder is used for both X- and Y-directions, but the stiffness of the springs is different. The simulated and measured FRF at node 1 are illustrated in Fig. 3,

Qo K o d3=2 . o

(3)

Centrifugal force (Fc) and gyroscopic moment (Mg) are [6]:  2 1 2 OE F c mDm O , (4) 2 O

o outer ring Qo

= (x, y, z, y, z) (4) (3)

housing outer ring

Fc Mg (2) y Qi i inner ring

shaft

ball
inner ring

(1) z z
Fig. 2. Elastic model of the bearing.

y x

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4 3 2 1 Z Y X x 10-8 Measurement Simulation

_ where [K]is tangential stiffness matrix, tDt fxgi , tDt fxgi , and tDt fxgi1 fDxgi are the approximations of the accelerations, velocities, and displacements obtained in the ith iteration, respectively. fDxgi is the displacement increment at the ith iteration, tDt fF tg is the force at the time t+Dt, tDt fRgi1 is the internal force corresponding to the displacement tDt fxgi1 . 3. Experimental verication of the model Experiments and simulations were conducted on the spindle before it was installed on the machine tool. The axial displacement at the spindle nose under different preload, acceleration response under impact force, frequency response function under freefree boundary conditions, and the inuence of bearing preload on FRF are simulated and experimentally veried [8]. Simulations and measurements conducted when the spindle is mounted on the machine are presented here. 3.1. FRF at the spindle nose and tool tip The magnitudes of simulated and measured FRFs are shown in Fig. 4, demonstrating that the proposed method can correctly predict the inuence of the machine tool mounting on the dynamics of the spindle system. Fig. 5 demonstrates the importance of including machine tool interface dynamics in assessing the dynamics of the spindles. If the dynamics of the machine tool is not included in the model, the lower frequencies of the spindlemachine tool system cannot be captured, and the high natural frequencies are over estimated.
4 Magnitude [m/N] 3 2 1 0 500 x 10-8 1000 1500 2000 2500 3000 3500 x 10-8 FRF at spindle nose in the X direction Measurement Simulation

5 4 Magnitude [m/N] 3 2 1 0

200

400

600 Frequency [Hz]

800

1000

Fig. 3. The head without the spindle and its identied FRF at node 1.

which shows that the simplied model can reasonably represent the dynamics of the whole machine tool without the spindle on it. By assembling the equations of the disk representing the pulley, spindle shaft/housing, bearings, and spindle head, the following general non-linear dynamic equation for the machine tool system is established: _ M fxg C fxg Rx F t , (8) where [M] is mass matrix, [C] is equivalent damping matrix including structural damping and gyroscopic effects, {F(t)} is the external force acting on the spindle, and {R(x)} is the internal force of the system, which depends on displacement {x}. The equivalent stiffness term implicitly included in the term {R(x)} and depends on displacement {x}, which is in turn affected by stiffness. The dependency of the stiffness matrix contained in {R(x)} on displacement is the root cause of the nonlinearity in the spindle system. The NewtonRaphson method is used to solve Eq. (8). The incremental FE equilibrium equation is obtained as follows: M
tDt

FRF at spindle nose in the Y direction

4 Magnitude [m/N] 3 2 1 0

500

1000

fx g C

tDt

tDt

_ fxg K fDxg F t tDt fRgi1 ,

1500 2000 Frequency [Hz]

2500

3000

3500

Fig. 4. FRF at spindle nose in the X- and Y-directions of the spindle machine tool system.

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x 10-8 4 3.5 3 Magnitude [m/N] 2.5 2 1.5 1 0.5 0 500

FRF at spindle nose in the X direction

Measurement Simulation (with the influence of the machine tool)

10 From measured FRF 8 Depth of cut [mm] From simulated FRF

Simulation (without the influence of the machine tool)

No chatter Chatter 2000 4000 6000 8000 10000

0 Spindle speed [rpm]

Fig. 7. Predicted stability lobes from measured and simulated FRF.

1000

1500

2000

2500

3000

3500

Frequency [Hz]
Fig. 5. Comparison of the inuence of the machine tool on spindle dynamics.

3.2. Prediction of stability lobes and chatter test

x 10-7 FRF at tool tip in the X direction (preload =1200 N ) 6 Magnitude [m/N] 4 2 0 500 1000 1500 2000 2500 3000 3500 4000 4500 x 10-7 FRF at tool tip in the Y direction (preload = 1200 N ) 6 Magnitude [m/N] 4 2 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Frequency [Hz] Measurement Simulation

Fig. 6. FRF at the tool tip for rigid connection of the tool-holder.

In order to predict stability lobes in the frequency domain, the FRF at the tool tip in both X- and Ydirections needs to be evaluated. A CAT40 (i.e., CV40TT20M400) shrink-t tool-holder and a four-uted carbide end mill with a diameter of 20 mm and a stick-out of 50 mm were used in all experiments and simulations presented in the paper. Both tool and holder are assumed to be connected rigidly to the spindle shaft. The magnitudes of FRF at the tool tip in both X- and Y-directions for the rigid tool-holderspindle connection are shown in Fig. 6, where the bearing preload is 1200N. The simulation matches measurements very well at lower frequencies, but the errors increase at higher frequencies.

The predicted stability of the system was experimentally evaluated by milling Aluminium 7050. The chatter stability theory of Budak et al. [10] is used to predict the stability lobes by considering both simulated and measured FRF at the tool tip. The results are shown and veried by cutting tests conducted under the cutting conditions marked with boxes or circles in Fig. 7. It is shown that the simulated FRF, which was obtained from the proposed FE model of the spindle, can correctly predict the stability lobes. It must be noted here that the inclusion of machine toolspindle connection dynamics is important to achieve such accuracy. The measured cutting forces and the machined surfaces for both stable and unstable depths of cut are shown in Figs. 8 and 9. The process was stable in Fig. 8, where the depth of cut was 2 mm. Although the depth of cut was only doubled in Fig. 9, the process was unstable and the cutting forces increased more than 500% due to chatter vibrations. The dominant frequency of the cutting forces at the depth of cut of 2 mm is the tooth passing frequency of 400 Hz, while chatter occurs at the spindle mode of 1028 Hz at 4 mm. The measured and simulated displacements at the toolholder for both depths of cut are shown in Figs. 10 and 11. The simulated displacements are very close to the measured displacements although the distribution is a little different. However, the spectrum of displacements from both simulation and measurement match very well. The simulated radial stiffness of bearings nos. 1 and 5 for the two cutting tests is illustrated in Fig. 12. The stiffness of the rst bearing is affected more than the fth bearing. The bearing stiffness can even reach zero during chatter. All forces are treated as dynamic forces in simulation. The preload is applied to the bearings rst, and the cutting forces are applied to the tool tip after the transient vibrations due to the preload diminish.

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-100 X direction -150 Cutting force [N] 0 250 200 Y direction 0 0 -50 -100 0 (a) 0.01 0.02 0.03 Time [s] Z direction 0.04 0.05 0.01 0.02 0.03 0.04 0.05 0.01 0.02 0.03 0.04 0.05

Displacement [m]

-50

0 -2 -4 Measurement -6 0 0.01 0.02 0.03 0.04 0.05

Displacement [m]

150

0 -2 -4 Simulation -6 0 0.01 0.02 0.03 Time [s] 0.04 0.05

(b)
Fig. 8. The measured cutting forces and machined surface during a stable cut. Spindle speed: 6000 rpm, depth of cut: 2 mm, feed rate: 0.1 mm/ute.

Fig. 10. The measured and simulated displacements in the X-direction at the tool-holder. Spindle speed: 6000 rpm, depth of cut: 2 mm, feed rate: 0.1 mm/ute, no chatter.

Displacement [m]

40 20 0 -20 -40 0 0.01 0.02 0.03 0.04 0.05 40 20 0 -20 -40 0 0.01 0.02 0.03 Time [s] 0.04 0.05 Simulation Measurement

200 0 -200 -400 Cutting force [N]

X direction 0 0.01 0.02 0.03 0.04 0.05

500 Y direction 0 200 0 -200 -400 0 0.01 0.02 0.03 0.04 0.05

Z direction 0 0.01 0.02 0.03 0.04 0.05

(a)

Time [s]

Fig. 11. The measured and simulated displacements in the X-direction at the tool-holder. Spindle speed: 6000 rpm, depth of cut: 4 mm, feed rate: 0.1 mm/ute, chatter.

(b)
Fig. 9. The measured cutting forces and machined surface. Spindle speed: 6000 rpm, depth of cut: 4 mm, feed rate: 0.1 mm/ute, chatter frequency 1028 Hz.

3.3. Effects of preload and speed on the dynamics of spindle machine tool systems In general, the natural frequencies of all modes increase with preload due to increased bearing stiffness, but decrease with spindle speed due to centrifugal forces. In order to compare the simulation and measurement more clearly, the inuence of the preload and spindle speed on the second dominant natural frequency is plotted separately in Fig. 14, by xing either the spindle speed or preload. The frequency increases from 1068 to 1142 Hz when preload is increased from 600 to 1800 N. However, the frequency drops from 1140 to 1090 Hz when the speed is increased from stationary to 10,000 rpm. It is shown that the proposed model can correctly predict the effects of the

Contact forces on bearings nos. 1 and 5 are shown in Fig. 13. Similar to the case of bearing stiffness, the rst bearing experiences higher contact forces than the fth bearing. Bearing stiffness and contact forces cannot be measured directly. The correct prediction of the FRF and displacement response, however, indirectly proves the validity of their simulation since bearing stiffness is closely related to the contact forces.

Displacement [m]

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Contact force [N]

Stiffness [N/m]

4 2

x 108 Bearing No.1

Preload period

200 100 0 0 0.01 0.02 0.03 0.04 0.05 200 Bearing No.5 100 0 0 0.01 0.02 0.03 0.04 0.05 Time [s] 600 400 200 0 0 0.01 0.02 0.03 0.04 0.05 200 100 0 0 0.01 0.02 0.03 0.04 0.05 Time [s] Preload period Cutting period Bearing No.1 Preload period Bearing No.1 Cutting period

Cutting period 0.02 0.03 0.04 0.05

0 x 108 Bearing No.5 2 0 0 0.01 0.02 0.03 Time [s] 4 2 0 0 0.01 0.02 0.03 0.04 0.05 x 108 Bearing No.5 2 0 0 0.01 0.02 0.03 0.04 0.05 Time [s] x 108 Preload period Cutting period Bearing No.1 0.04 0.05 (a) Contact force [N] Contact force [N] Contact force [N] 0 0.01

Stiffness [N/m] (a) Stiffness [N/m]

Bearing No.5

Stiffness [N/m]

(b)

(b)

Fig. 13. Simulated bearing contact forces under cutting (spindle speed: 6000 rpm, feed rate: 0.1 mm/ute).

Fig. 12. Radial bearing stiffness under cutting forces (spindle speed: 6000 rpm, feed rate: 0.1 mm/ute).
The second dominant frequency (spindle speed = 0 rpm) Frequency [Hz]

preload and spindle speed on the dynamics of spindle machine tool systems. 4. Conclusions The numerical model of the spindle machine tool system is developed to simulate the virtual cutting performance of the machinespindle system. It is shown that the reliability of virtual cutting with the spindles require integrated modeling of bearings, spindle shafts, tool and holders, bearing preload, connection between the spindle and machine tool housing, speed and machining process. The study also demonstrates that the modeling of spindle alone does not lead to correct prediction of its dynamics on the machine tool, unless its mounting joints are included in the mathematical models. The experimentally veried mathematical model predicts that the preload can increase the bearing stiffness, leading to increased natural frequencies, which shifts the stability lobes to the right towards higher speeds. However, higher preload reduces the damping, which decreases the dynamic stiffness at the tool tip hence reduces the chatter free, depth of cuts. The preload cannot efciently improve the stability lobes, but it can enhance the static stiffness and reduce the forced vibrations.

1150

1100

Measurement Simulation

1050 600

800

1000

1200 1400 Preload [N]

1600

1800

The second dominant frequency (preload = 1200N) Frequency [Hz] 1150 Measurement Simulation

1100

1050 0 2000 4000 6000 Spindle speed [rpm] 8000 10000

Fig. 14. The inuence of the preload and spindle speed on the second natural frequency.

Acknowledgment This research is jointly sponsored by NSERC, Pratt & Whitney, Canada, Boeing Commercial Plane, and Weiss Spindle Technology.

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1350 Y. Cao, Y. Altintas / International Journal of Machine Tools & Manufacture 47 (2007) 13421350 [6] A.B. Jones, A general theory for elastically constrained ball and radial roller bearings under arbitrary load and speed conditions, ASME Journal of Basic Engineering (1960) 309320. [7] H. Li, Y.C. Shin, Integrated dynamic thermo-mechanical modeling of high speed spindles, part 1: Model development, Journal of Manufacturing Science and Engineering, Transactions of the ASME 126 (2004) 148158. [8] Y. Cao, Y. Altintas, A general method for the modeling of spindlebearing systems, Journal of Mechanical Design, Transactions of the ASME 126 (2004) 10891104. [9] Y. Altintas, Y. Cao, Virtual design and optimization of machine tool spindles, Annals of CIRP 54 (1) (2005) 379382. [10] E. Budak, Y. Altintas, Analytical prediction of chatter stability in millingPart I: general formulation, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME 120 (1998) 2230.

References
[1] Y. Altintas, M. Weck, Chatter stability of metal cutting and grinding, Annals of CIRP 53/2 (2004) 619642. [2] R.L. Ruhl, J.F. Booker, A nite element model for distributed parameter turborotor systems, ASME Journal of Engineering for Industry Feb (1972) 128132. [3] H.D. Nelson, A nite rotating shaft element using Timoshenko beam theory, ASME Journal of Mechanical Design 102 (4) (1980) 793803. [4] F.P. Wardle, S.J. Lacey, S.Y. Poon, Dynamic and static characteristics of a wide spread range machine tool spindle, Precision Engineering 1 (3) (1983) 175183. [5] C.H. Chen, K.W. Wang, Y.C. Shin, An integrated approach toward the dynamic analysis of high-speed spindles, Part I: system model; Part II: dynamics under moving end load, International Journal of Vibration and Acoustics 116 (4) (1994) 506522.