Kinematic Modelling of a Robot in Form-shaping Milling Complex Surfaces


  •   Ha Thanh Hai


This paper presents kinematic modelling of a robot in form-shaping milling complex surfaces, illustrated applying in form-shaping milling a molding prototype. The robot have 6 degrees of freedom, with a cutter attaching to the end of the end-effector. The workpiece is fixed on the clamping table. Using robot in form-shaping machining parts enables increasing the flexibility of selecting machining observation area, increasing capability of selecting engineering manipulation, increasing quality and machining efficiency. In machining process, because of the cutter moving along the machining trajectory in multidimensional space, computing and planning trajectory is more complex. In order to planning the trajectory, it need to derive the kinematic equations of the robot, and deal with the kinematic problems. The kinematics problems are solved with the constraints that the position, orientation, velocity of the tool frame must be coincided with the ones of the workpiece frame. After computing, the results are validated by simulation of robot motion.

Keywords: Complex Surface, Form-Shaping Machining, Kinematic Modelling, Robot Machining, Trajectory Planning


Lehmann, C., Pellicciari, et al, “Machining with industrial robots: the COMET project approach”, In International Workshop on Robotics in Smart Manufacturing, pp. 27-36, Springer, Berlin, Heidelberg, 2013.

COMET Project. (June 20, 2011). Plug and Produce COMponents and METhods for adaptive control of industrial robots enabling cost effective, high precision manufacturing in factories of the future.

Phan Bui Khoi, Ha Thanh Hai, “Investigation of kinematics and motion planning for mechanical machining robots”, Proceedings of the National Conference of Engineering Mechanics, Vol. 2, pp. 407-418, 2015 (In Vietnamese).

Le Van Tham, Phan Bui Khoi, Bui Ngoc Tuyen, et al, “Trajectory and motion planning of robot applying to grinding the curved-tip surgical scissor”, Proceeding of the 2th National conference on Mechanics and Automation. Hanoi, pp. 467-472, 2016 (In Vietnamese).

Phan Bui Khoi, Le Quang Huy, et al, “Kinematic modeling of the process of grinding turbine blades by using robots”, Proceeding of the 10th National conference on Mechanics, Hanoi, 8-9/12/2017. Vol 1, pp. 803-812, 2017 (In Vietnamese).

Zavialov Y.S., Leus V.S, et al, “Splines in engineering geometry. Mechanical Engineering”. Moscow, pp.224, 1985, (In Russian).

Phan Bui Khoi, “Digitalization of motion trajectories of robot”, Journal of Science and technology, VAST. Vol 58, 1A, 2014. Pp. 12-23. (In Vietnamese).


Download data is not yet available.


How to Cite
Hai, H. 2019. Kinematic Modelling of a Robot in Form-shaping Milling Complex Surfaces. European Journal of Engineering and Technology Research. 4, 11 (Nov. 2019), 26-31. DOI: