Reconfigurable robotic machining system controlled and programmed in a machine tool manner

Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot

“…An example of emulating 5-axis vertical milling machine (X,Y,Z,A,B), Figure 3b, is given in [4], whereas this paper presents the kinematic modeling and development of control and programming system for 5-axis horizontal milling machine (X,Y,Z,A,B) emulated from the 6-axis robot.…”

“…The Denavit-Hartenberg (D-H) approach [4,[13][14][15]] was used to model the industrial robot. To perform kinematic analysis, first, coordinate frames are rigidly attached to each link.…”

“…Consequently, intensive research and development of robots for multi-axis milling, primarily of complex, large dimension parts from softer materials and lower tolerances, are under way. The application of industrial robots for this class of tasks is today widely recognized as an alternative to relatively costly 5-axis machine tools [1][2][3][4]. Intensive studies [2,5] conducted in the world are related to solving two groups of problems that represent major limiting factors for broader application of robotic machining.…”

“…Intensive studies [2,5] conducted in the world are related to solving two groups of problems that represent major limiting factors for broader application of robotic machining. These problems embrace the complexity of programming [4] and unsatisfactory stiffness of the robot serial structure [6].…”

“…Another direction of customizing the existing robot programming languages for machining applications is the development of postprocessors for them. These approaches enable to some extent to bring programming of machining robot closer to programming of multi-axis machine tools [4,7]. This paper presents the approach of kinematic modeling of industrial robots with the aim of emulating 5-axis horizontal and vertical machine tools.…”