Form error prediction in robotic assisted milling

Robotic assisted milling is a process where a robot supports a workpiece while a machine tool cuts the workpiece. It can be used to suppress vibrations and minimize form errors in thin wall workpieces. In this paper, form error on a workpiece is simulated using a static force model, a frequency domain model and a hybrid model while a robot supports the workpiece from the other side. Machining results show that assistance of the robot has a considerable effect of the magnitude of form errors. Hence, support force should be carefully selected by simulation before machining. Finally, simulation results show that hybrid model gives the best fit among those three models.