Studying the cutting forces during wood machining by a removal process is crucial to ensure high surface quality, maximum precision and to minimize chattering phenomena. Currently, industrial tasks and research works concerning using serial robots for wood machining are rare, which can be explained by the low stiffness of such machines. High cutting forces with low machine rigidity undeniably disturb robot behaviour during wood machining. The machined surface quality and machining process performance will be degraded, causing toolpath deviation and dimensional errors. Therefore, operating time and cost will be high. To overcome this issue, the present research focuses on how to ameliorate robotic wood machining by studying the link between cutting forces and accuracy while machining wood using a serial robot. This study deals with three major constraints, low robot accuracy, low stiffness and high cutting forces.

中文翻译：

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串行机器人在木材加工过程中的切削力和精度表征

研究木材在切削过程中的切削力对于确保高表面质量，最大精度和最大程度地减少颤振现象至关重要。当前，涉及使用串行机器人进行木材加工的工业任务和研究工作很少，这可以用这种机器的低刚度来解释。较高的切削力和较低的机器刚度无疑会干扰木材加工过程中的机器人行为。加工的表面质量和加工工艺性能将降低，从而导致刀具路径偏差和尺寸误差。因此，操作时间和成本将很高。为了克服这个问题，本研究集中于如何通过研究在使用串行机器人进行木材加工时切削力与精度之间的联系来改善机器人木材加工。