author = "Furtado, L. F. F. and Villani, E. and Trabasso, L. G. and 
                         Sut{\'e}rio, Ricardo",
          affiliation = "{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Nacional de Pesquisas Espaciais (INPE)}",
                title = "A method to improve the use of 6-dof robots as machine tools",
              journal = "The International Journal of Advanced Manufacturing Technology",
                 year = "2017",
               volume = "92",
               number = "5/8",
                pages = "2487--2502",
                month = "Sept.",
             keywords = "s Robot machining . Industrial manipulators . Manufacturing . 
             abstract = "Since the introduction of robots in the automotive industry for 
                         pick and place tasks, new technologies have been developed in 
                         order to adapt robots to different manufacturing processes. Among 
                         them, the use of robots as machine tools is a technological trend 
                         that demands further investigation. Industrial robots with 6 DOF 
                         (degrees of freedom) in a serial kinematic chain have larger 
                         workspace and more flexibility, when compared with CNC machines. 
                         However, robots stiffness is lower than that of CNC machines. 
                         Consequently, vibration problems are expected, which can have a 
                         direct impact on the quality of the machined workpieces. This work 
                         proposes a method to evaluate and customize the use of a COTS 
                         (commercial off-the-shelf) robot equipped with a spindle for 
                         machining processes. It aims at improving the machining processes 
                         based on the measurement of the workpiece waviness and explores 
                         the fact that the accuracy and rigidity of industrial robots with 
                         serial kinematic chains behave in an anisotropic way, according to 
                         the robot pose and the cutting force direction. The method is 
                         composed of a set of five experiments and is applied to the 
                         evaluation of a robot machining aluminium workpieces. The results 
                         allow the identification of the relevant factors that affect the 
                         surface quality of the workpiece and recommend the best robot 
                         configuration for meeting the waviness requirements of the 
                         workpiece. Even though the application case describes the 
                         machining of aluminium workpiece, the proposed method is generic 
                         enough to be applied to different workpiece geometries and 
                  doi = "10.1007/s00170-017-0336-8",
                  url = "http://dx.doi.org/10.1007/s00170-017-0336-8",
                 issn = "0268-3768",
             language = "en",
           targetfile = "furtado_method.pdf",
        urlaccessdate = "26 jan. 2021"