Werkzeugorientierung

Industrial robots are being used increasingly in machining processes. Here, the robots exhibit a significantly higher displacement of the end effector than conventional CNC machines due to their comparable low stiffness. This paper presents an approach to minimize such displacements of the tool by exploiting the rotational degrees of freedom at the milling spindle. For this purpose, the displacement of the end effector at different orientations of the milling spindle was investigated by means of a structural model.