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.
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