Machining parameters, e.g. robot acceleration and velocity, were also considered in order to find the best trade-off between final quality and cycle time.
Fig. 7 shows the software interface adopted to optimize the robot behavior. wear, without spindle rest or speed reduction.
Figure 8 presents the original integrated on-line procedure.
Fig. 9 shows the real robotic workcell compared to its virtual prototype in the OLP Roboguide environment.
Thanks to the method proposed the part quality was significantly enhanced with respect to the manual
machining: the measured value of the planarity was between 0.3mm and 0.8mm. Compared to the manual process, the robot machining was a slower process, taking 10 minutes instead of 8 minutes, but the final quality was greater and more constant. Moreover, thanks to the OLP approach, the workcell reconfiguration at the batch change required only the 20% of the time needed to manually teach a new robot program of complex workpieces.