Optimizing the performance of serial robots for milling tasks: A review

Serial industrial robots, as a great potential alternative to computer numerical control (CNC) machine tools, have attracted numerous attention, relying on their large workspace and low cost. However, a detailed and specific guidance is still missed to solve the problem of poor milling performance caused by their weak stiffness when facing milling tasks with high material removal rates (MRR). Combined with the status information, this paper systematically and comprehensively reviews the potential issues and their corresponding solutions from the aspects of posture and milling process, thus achieving better machining quality, ensuring machining stability, continuity in path, and preventing the occurrence of failures. Furthermore, future research hotspots and directions are proposed by considering the current research findings and the increasingly intelligent trends exhibited by the continuous development of the manufacturing industry.