Analysing the influence of a radial compliant tool in robotic milling operations

7th Modern Technologies in Industrial Engineering

工业技术（总论）

Ivan, A.M.^1 ; Parpala, R.C.^1 ; Coman, C.G.^1

Politehnica University of Bucharest, Department of Robots and Production Systems, Splaiul Independentei, No. 313, Bucharest

060029, Romania^1

关键词: Experimental research;    Machined materials;    Machining force;    Machining operations;    Milling operation;    Milling process;    Robotic equipments;    Trajectory Planning;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/591/1/012079/pdf
DOI  :  10.1088/1757-899X/591/1/012079

学科分类：工业工程学

来源: IOP

【 摘 要 】

This article presents the experimental research performed by the authors in the field of robotic low force milling operations using radial compliant end effectors in order to identify the general advantages and limitations offered by this approach when compared to conventional (non-compliant) tools. The experiments were conducted using a Kawasaki FS 10 E articulated arm robot with six axes. The experimental data was collected using a Kistler 9257B dynamometer for three different materials: aluminium, plastic and wood. For each material, several different milling operations were performed: chamfering, slotting and lateral milling. The evaluation for the two approaches was done by analysing the tool behaviour during machining operation, by measuring the machining forces generated by the milling process and by observing the surface quality resulted after machining. The experimental results led to the conclusion that the main limitation for radial compliant end effectors usage lies with slotting operations and with materials that have hard to remove chips. The results obtained in this work will be used, together with further experimental research, to identify the limitations and opportunities of available robotic equipment in milling applications with respect to machined materials, feeds and speeds, as well as trajectory planning.