Kinematic Modelling of a Tri Robot Machining Cell

Abstract

A Synchronised “Trio-Robots Cutting System” with “DRY” Lubrication Technology for Post 3D-Metal Laser Sintered Biomedical Product is being developed. The multi-robot machining cell consists of three 6 degree-of-freedom industrial robots serving respectively as cutting robot, holding robot and cooling robot. The novelty of this robotic system is the innovative built-in reference datum setting that enables subsequent downstream robotic manufacturing system and process design to be completed in a single set-up. This innovative idea/concept is patent pending. This paper reports the conceptual development of the said manufacturing system, with the use of kinematic modelling of the three 6 DOF robots for the Machining System.