Tool axis optimization for robotic 5-axis milling considering kinematics

Robotic milling is proposed to be one of the alternatives to respond the demand for reconfigurable and cost-effective manufacturing systems. Serial arm robots are mostly use for robotic milling purposes offering 6 degrees of freedom (DOF) motion capability. In 5-axis milling, the tool axis selection is still a challenge, where only geometrical issues are considered at the computer-aided-manufacturing (CAM) packages. In this study, an approach is proposed to select the tool axis for robotic milling along an already generated 5-axis milling tool path, where the robot kinematics are considered to eliminate or decrease excessive axis rotations. The proposed approach is demonstrated through simulations and benefits are discussed.