Industrial robots are already used for milling tasks. However, the lack of rigidity and the tendency to oscillate still limit the range of application. Therefore, this paper investigates the performance of the robotic milling by correlating the robot's dynamic behavior with measured data during the milling process. Besides the dependency on the feed direction the effect of different spindle speeds is investigated as well. The aim of milling with different spindle speeds was to investigate if systematic correlations can be determined between the force direction, the excitation frequency and occurring oscillations of the robot's structure. In this paper the experiments, as well as their setup, will be presented, followed by the obtained results and a discussion about possible systematics.
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