Nonlinear dynamic modeling and vibration analysis of whole machine tool

•A novel dynamic model of whole machine tool with high computational efficiency is developed considering the milling process.•The workpiece clamping worktable system is modeled as a highly coupled 18-DOF model considering the nonlinear characteristics of moving joints and position-dependent dynamics.•Instantaneous milling load is calculated including the effects of vibrations and tool system errors.•Experimentally confirmed model is used to carry out the parametric analysis of machine tool.