Cutting forces and accuracy characterization during wood machining with serial robots

摘要

Studying the cutting forces during wood machining by a removal process is crucial to ensure high surface quality, maximum precision and to minimize chattering phenomena. Currently, industrial tasks and research works concerning using serial robots for wood machining are rare, which can be explained by the low stiffness of such machines. High cutting forces with low machine rigidity undeniably disturb robot behaviour during wood machining. The machined surface quality and machining process performance will be degraded, causing toolpath deviation and dimensional errors. Therefore, operating time and cost will be high. To overcome this issue, the present research focuses on how to ameliorate robotic wood machining by studying the link between cutting forces and accuracy while machining wood using a serial robot. This study deals with three major constraints, low robot accuracy, low stiffness and high cutting forces.