Design of robotic end-effector for milling force control

In order to realize the precision machining of high-performance materials, a robotic end-effector for milling force control is proposed. Two kinds of end-effectors which are coaxial and non-coaxial structures are designed according to types of motorized spindle and force sensor. The maximum milling force is obtained that is satisfied the safety requirements of force sensor. And the three-dimensional models of coaxial and non-coaxial structure are imported into ABAQUS software for finite element analysis. The simulation results show the non-coaxial structure is better than coaxial structure, and it is suitable to be installed in robot to machine high performance parts. (paper)