Investigation of Key Process Parameters Affecting Product Quality in Robotic Milling: A Comprehensive Analysis

Industrial robots are a widely used technology in various industries, capable of performing multiple tasks, particularly machining operations. However, compared to CNC machines, industrial robots have certain drawbacks, such as lower rigidity, precision, and repeatability. These limitations are significant obstacles to fully integrating industrial robots into manufacturing processes. The deficiencies in robots directly impact the quality of machined workpieces, leading to reduced surface quality and geometric accuracy. Researchers have been exploring ways to improve production accuracy and quality using robotic arms for decades. Despite technological advancements, the full implementation of robotic arms in machining processes remains in its early stages. This article focuses on robotic milling and the effect of technological parameters on the final quality of the machined material, aiming to determine their importance for designing the main experimental plan. In our experiment, we used an ABB IRB 1100 robotic arm with a payload of 4 kg and a maximum reach of 0.58 m. The milling process was programmed in RobotStudio, which also supports milling complex shapes. Our statistical analysis showed that feed rate had the greatest impact on quality, while depth of field had the least influence. This information will guide further research in developing a mathematical model for robotic milling.