Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

The purpose of this project is to develop and build an extensible fixture. This fixture is ideal to milling, drilling, and shaping operations. Jigs and fittings are often the most cost-effective methods of mass fabricating a component. As a result, jigs and fittings are used and play a vital part in the mass production system. These are specialist work holding and tool-guiding devices. The quality of jigs and fixtures used in a process has a substantial impact on its performance. A fixture is distinctive because it is meant to fit a given area or shape. The basic purpose of a fixture is to find and, in certain instances, hold a workpiece throughout an operation. A jig differs from a fixture in that it leads the tool to the right position or movement during an operation, in addition to locating and supporting the workpiece. When a key is reproduced, the original key serves as a base for the path reader, which regulates the tool's movement to construct the duplicate key. In this situation, a CWC machine's route reader works as a jig, with the original being referred to as the template. Sometimes the template and jig refer to the same part of a production system.

Difficult-to-cut materials are being increasingly used in many industries because of their superior properties, including high corrosion resistance, heat resistance and specific strength. However, these same properties make the materials difficult to machine using conventional machining techniques. Laser-assisted milling (LAM) is one of the effective methods for machining difficult-to-cut materials. In laser-assisted milling machining occur after the workpiece is locally preheated using a laser heat source. Laser assisted machining has been studied by many researchers on flat workpiece or micro end-milling. However, there is no research on the curved shape using laser assisted milling. This study investigated the use of laser assisted milling to machine a three-dimensional curved shape workpiece based on NURBS. A machining experiment was performed on Inconel 718 using different tool paths (ramping, contouring) under various machining conditions. Finite elements analysis was conducted to determine the depth of cut. Cutting force, specific cutting energy and surface roughness characteristics were measured, analyzed and compared for conventional and LAM machining. LAM significantly improved these machining characteristics, compared to conventional machining. There results can be applied to the laser-assisted machining of various three-dimensional shapes.