Improved stable conditions in robotic milling by kinematic redundancy

Robotic milling is exposed to asymmetrical and significantly varying dynamic response at the tool tip due to varying serial kinematics. As a result, the stable cutting conditions vary along the large working envelope, where directional effect of the feed is also vital. In this study, it is investigated and demonstrated that the kinematic redundancy of 6-axis serial arm robots can be used to achieve improved stable cutting conditions. The tool tip dynamics along the feed and cross-feed directions are experimentally measured, and the kinematic redundancy is used to eliminate the feed and position dependency of stability limits. The discussions are provided through simulations. (C) 2019 The Authors. Published by Elsevier B.V.