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Dual Arm milling for a curved surfaceThe dual arm can mill both sides of the convex surface in the same time, saving a great amount of time when manufacturing. In addition, the robotic arm has really high degree of freedom, making it a redundant system. The redundant system enables the robot to perform various task including the obstacles avoidance. The animation below is the simulation for a dual arm manufacturing the curved surface. It is worth notice that the end-effector is always perpendicular to the surface which is coincide to the manufacture theory: " Perpendicular Milling to the object makes the surface smoother and decreases machining error " |