Abstract
Polystyrene mold used in full mold casting is usually machined by a CNC machine. On the other hand, an articulated industrial robot costs lower and can move more flexibly. Efficient machining will be accomplished by attaching a spindle motor with a ball end mill to the tip of the robot. A trajectory following control system based on CL (Cutter Location) data has been developed for a machining robot. In the system, the discrete trajectories at each sampling time are generated from position and orientation information in CL data made by post processor in CAM system. Many machining experiments were carried out using the machining robot incorporated with the controller, so that it was confirmed that the quality of machined surface of foamed polystyrene depended on machining conditions. In this paper, the effects of rotation speed of an end mill and small vibration control on quality of machined surface are compared.
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