ABSTRACT
Modern technologies enable quick material removal in manufacturing operations. However, this compromises the accuracy of any contour cut on the workpiece. According to recent literature, a robotic machine bed with six degrees of freedom (6-DOF) promises to improve accuracy. Nonetheless, due to its intricate structure, such a machining bed produces a multitude of errors. This work addresses an error caused by a workpiece dislocation on the cutting bed. The research proposes a mathematical model of the problem as well as a controller meant to reject the effect of the error on machined contour precision. To compute bed configuration parameters for arbitrary workpiece positions, the inverse kinematics model of the robotic bed mechanism is built using a graphical method. To examine the dynamic impacts of error, a system dynamics model is created using the Lagrange technique. A traditional controller is intended to reduce the error in machined contour caused by workpiece dislocation. The effectiveness of the suggested controller is demonstrated in simulations and tested in experiments performed on a robotic machining bed. The overall inaccuracy was found to be around 3% in experiments and simulations. The results reveal that the accuracy of the shape produced on a workpiece put on a robotic 6-DOF machining bed has improved.
