{"id":94635,"date":"2022-10-15T12:00:00","date_gmt":"2022-10-15T10:00:00","guid":{"rendered":"https:\/\/industry-science.com\/?post_type=article&#038;p=94635"},"modified":"2025-07-25T18:12:17","modified_gmt":"2025-07-25T16:12:17","slug":"influence-of-milling-spindle-orientation-on-machining-accuracy-when-milling-with-indus-trial-robots","status":"publish","type":"article","link":"https:\/\/industry-science.com\/en\/articles\/influence-of-milling-spindle-orientation-on-machining-accuracy-when-milling-with-indus-trial-robots\/","title":{"rendered":"Influence of Milling Spindle Orientation on Machining Accuracy"},"content":{"rendered":"<hr>\n<div class=\"gito-pub-content-bibliography\">\n<h2>Bibliography <\/h2>\n[1] Plyusnina, M.; Krewet, C.; Rieger, M.; Bickendorf, J.; Kuhlenk\u00f6tter, B. (Hrsg): In-Prozess-Erfassung und Auswertung prozessdefinierender Kennwerte beim robotergest\u00fctzten Polieren von Designoberfl\u00e4chen. Dortmund: Tagungsband. Dresden: Technische Universit\u00e4t 2015.<br \/>\n[2] M\u00f6llensiep, D.; Gorlas, T.; Kulessa, P.; Kuhlenk\u00f6tter B.: Real-time stiffness compensation and force control of cooperating robots in robot-based double sided incremental sheet forming. Production Engineering 15 (2021) 5, S. 683-699.<br \/>\n[3] Penczek, L. N.; Krampe, M.; Kuhlenk\u00f6tter, B.: Analysis of surface quality during milling with industrial robots as a function of axis. CPSL 2nd Conference (2021), S. 1-10.<br \/>\n[4] Pan, Z.; Zhang, H.; Zhu, Z.; W. J.: Chatter analysis of robotic machining process. Journal of Materials Processing Technology 173 (2006) 3, S. 301-309.<br \/>\n[5] Abele, E.; Bauer, J.; Stelzer, M.; Stryk, O.: Wechselwirkungen von Fr\u00e4sprozess und Maschinenstruktur am Beispiel des Industrieroboters. Entwicklung von Modellkomponenten f\u00fcr eine Offlinekompensation der spanenden Bearbeitung mit Industrierobotern (2008), S. 733-737.<br \/>\n[6] Z\u00e4h, M. F.; Roesch O.: Improvement of the Static and Dynamic Behavior of a Milling Robot. International Journal of Automation Technology 9 (2015) 2, S. 129-133.<br \/>\n[7] Beyer, L.: Genauigkeitssteigerung von Industrierobotern. Insbesondere mit Parallelkinematik. Forschungsberichte aus dem Laboratorium Fertigungstechnik \/ Helmut-Schmidt-Universit\u00e4t, Universit\u00e4t der Bundeswehr Hamburg, Bd. 1. Aachen 2005.<br \/>\n[8] Rosenbauer, T.: Getriebe f\u00fcr Industrieroboter. Beurteilungskriterien, Kenndaten, Einsatzhinweise. Zugl.: Aachen, Univ., Berichte aus der Produktionstechnik, Bd. 94,32. Aachen 1995.<br \/>\n[9] Z\u00e4h, M. F.; R\u00f6sch O.: Steigerung der Arbeitsgenauigkeit bei der Fr\u00e4sbearbeitung mit Industrierobotern. Zeitschrift f\u00fcr wirtschaftlichen Fabrikbetrieb 106 (2011) 9, S. 658- 662.<br \/>\n[10] M\u00f6ller, C.; Schmidt, C. S.; Shah, N. H.; Wollnack, J.: Enhanced Absolute Accuracy of an Industrial Milling Robot Using Stereo Camera System. Procedia Technology 26 (2016), S. 389-398.<br \/>\n[11] R\u00f6sch, O.: Steigerung der Arbeitsgenauigkeit bei der Fr\u00e4sbearbeitung metallischer Werkstoffe mit Industrierobotern. Zugl.: M\u00fcnchen, Techn. Univ., Diss., 2014.<br \/>\n[12] Celikag, H.; Sims, N. D.; Ozturk, E.: Cartesian Stiffness Optimization for Serial Arm Robots. Procedia CIRP 77 (2018), S. 566-569. [13] Posada, D.; Schneider, U.; Sridhar, A.; Verl, A.: Automatic Motion Generation for Robotic Milling Optimizing Stiffness with Sample-Based Planning. Machines 5 (2017) 1, S. 3.<br \/>\n[14] Schneider, U.; Posada, D.; Ricardo, J.; Verl, A.: Automatic pose optimization for robotic processes. 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE 52015, S. 2054-2059.<br \/>\n[15] Bauer, J.: Methoden der Offline-Bahnkorrektur f\u00fcr die spanende Bearbeitung mit Industrierobotern. Zugl.: Darmstadt, Techn. Univ,. Schriftenreihe des PTW. Berlin 2011.<br \/>\n[16] Ang, M.; Tourassis, V.: Singularities of Euler and Roll-Pitch-Yaw Representations. IEEE Transactions on Aerospace and Electronic Systems AES-23 (1987) 3, S. 317-324.<\/div>\n<div id=\"download-section\" class=\"gito-pub-download-section\" style=\"text-align:center;margin:20px;\">\n<h2>Your downloads<\/h2>\n<p><button style=\"font-size:14px;margin-right:15px;\" class=\"button gito-pub-cpt-download-button\" data-postid=\"94635\" data-userid =\"0\" data-filename=\"Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022.pdf\"><span style=\"margin-top:5px !important;\" class=\"dashicons dashicons-download\"><\/span>&nbsp;&nbsp;PDF<\/button><\/div>\n\n","protected":false},"excerpt":{"rendered":"<p>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.<\/p>\n","protected":false},"featured_media":95950,"menu_order":0,"template":"","categories":[79167,79168,79298],"tags":[],"product_cat":[],"topic":[],"technology":[68674],"knowhow":[],"industry":[],"writer":[80983,83529,83528],"content-type":[],"potential":[],"solution":[],"glossary":[],"class_list":["post-94635","article","type-article","status-publish","has-post-thumbnail","category-design-en","category-translate-en","category-typeset","technology-robotics","writer-bernd-kuhlenkoetter-en","writer-dennis-moellensiep-en","writer-lars-n-josler-en","product","first","instock","downloadable","virtual","sold-individually","taxable","purchasable","product-type-article"],"uagb_featured_image_src":{"full":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788.jpg",1400,788,false],"thumbnail":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-150x150.jpg",150,150,true],"medium":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-666x375.jpg",666,375,true],"medium_large":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-768x432.jpg",768,432,true],"large":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-1024x576.jpg",1020,574,true],"front-page-entry":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-1032x320.jpg",1032,320,true],"post-entry":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-764x376.jpg",764,376,true],"post-teaser":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-392x320.jpg",392,320,true],"post-teaser-mobile":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-608x496.jpg",608,496,true],"post-custom-size":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-640x325.jpg",640,325,true],"whitepaper-teaser":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-274x376.jpg",274,376,true],"card-big":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-514x292.jpg",514,292,true],"card-portrait":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-320x440.jpg",320,440,true],"card-big-company":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-514x289.jpg",514,289,true],"gp-listing":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-196x180.jpg",196,180,true],"1536x1536":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788.jpg",1400,788,false],"2048x2048":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788.jpg",1400,788,false],"woocommerce_thumbnail":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-510x510.jpg",510,510,true],"woocommerce_single":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-510x287.jpg",510,287,true],"woocommerce_gallery_thumbnail":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-100x100.jpg",100,100,true],"dgwt-wcas-product-suggestion":["https:\/\/industry-science.com\/wp-content\/uploads\/2024\/03\/Josler_Einfluss-der Fraesspindel_Orientierung_IM-5_2022-1400x788-64x36.jpg",64,36,true]},"uagb_author_info":{"display_name":"Christoph Brocks","author_link":"https:\/\/industry-science.com\/en\/author\/"},"uagb_comment_info":0,"uagb_excerpt":"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. 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