Robotic Milling
Robotic milling presents an opportunity for cost-effective large-scale machining, with industrial robots being ten times more cost-effective than traditional milling machines for the same workspace. However, the challenge lies in achieving precision and productivity when working with metals, as current capabilities are limited to plastics and wood.
In this initiative, our goal is to revolutionize robotic milling in metals by taking a holistic approach. We are developing innovative concepts that address various aspects simultaneously, including robot stiffness and dynamics, machining processes, tooling, control systems, system-aware tool-path planning, and in-line measurement and correction.
We are currently exploring two approaches: For series production, we implement repetitive learning control, periodically measuring machined parts on a Coordinate Measuring Machine (CMM) to adapt the tool-path. In lot-size one scenarios, we have devised a secondary kinematic system that mitigates robot deflections and oscillations in real-time, enhancing stiffness and dynamics. Our future work aims to benchmark these solutions and develop process models for generating tool paths that optimize working points for the system, ultimately enabling productive and accurate robotic milling in metals.
For more information about the IRC visit the group-page: www.irz.ethz.ch