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Robotic milling of complex NURBS surface with fixed cutter axis control method

Wang Z.Q. (Lanzhou Jiaotong University, Lanzhou, China)
Liu X.Q. (Lanzhou Jiaotong University, Lanzhou, China)
Wang X.R. (Lanzhou Jiaotong University, Lanzhou, China)
Li C.Y. (Lanzhou Jiaotong University, Lanzhou, China)
Yang N. (Lanzhou Jiaotong University, Lanzhou, China)
Lin T.S. (Harbin Industry University, Harbin, China)
He P. (Harbin Institute of Technology, Harbin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 6 May 2021

Issue publication date: 3 August 2021




This papers aims to provide a fixed cutter axis control (F-CAC) industrial robot (IR) milling for NURBS surfaces with large fluctuation, which can avoid over-cut and interference during IR milling in contrast to variable cutter axis control (V-CAC) IR milling.


After the design of a target surface, the IR reciprocating milling trajectory can be obtained using NURBS mapping projection method. A set of interpolation points of the reciprocating trajectory can be calculated using the equi-chord interpolation method. Combining with F-CAC method and curvature estimation, the IR reciprocating trajectory of the tool center point (TCP) without over-cut can be obtained. The programs corresponding to posture control using F-CAC can be generated by IR kinematics.


In contrast to the V-CAC milling method, the F-CAC method can machine successfully the NURBS surfaces with large fluctuation. The simulation and machining proves that F-CAC is feasible and effective to machine NURBS surface with large fluctuation without over-cut phenomenon. The F-CAC has wide application in carving and woodworking industry at present.


The F-CAC method is very practical and effective for IR milling of complex NURBS surfaces with large fluctuation without over-cut and interference phenomenon.



Z.Q., W., X.Q., L., X.R., W., C.Y., L., N., Y., T.S., L. and P., H. (2021), "Robotic milling of complex NURBS surface with fixed cutter axis control method", Industrial Robot, Vol. 48 No. 3, pp. 413-422.



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