Issues and challenges in robotic trimming of CFRP

Thanks to their adaptability, programmability, high dexterity and good maneuverability, industrial robots offer more cutting-edge and lower-cost than machine tools to bring molded Carbon Fibre Reinforced Polymers (CFRPs) parts to their final shapes and sizes. However, the quality of CFRP parts obtained with robotic machining must be comparable to that obtained with a CNC machine. In addition, the robot itself has to be very stiff and accurate to provide the same consistency and accuracy as their machine tool counterparts. If the robot is not sufficiently stiff, chatter, overall vibrations and deviations in shape and position of the workpieces will occur. Furthermore, during robotic machining of Carbon Fibre Reinforced Polymer, the anisotropic and highly abrasive nature of CFRPs combined with the higher cutting forces and the lower stiffness of the robot, lead to numerous machining problems. Therefore, robotic machining of CFRPs stills a big challenge and need further research. In this position paper, a methodology has been developed and implemented to identify, understand and quantify the machining errors that can alter parts accuracy during high speed robotic trimming of CFRPs.