Toolpath and Holes Accuracy of Robotic Machining for Drilling Process

  • Mohd Shahir KasimEmail author
  • Mohammad Shah All Hafiz
  • Nurwahida Rosli
  • W Noor Fatihah Mohamad
  • Raja Izamshah
  • Mohd Amran Md Ali
  • Abu Abdullah
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


Drilling is one of the major machining operations in manufacturing. The application of robots in machining is the alternative technique to produce new products of the future. However, the performance of the robot always been a challenge in production. This paper presents the investigation on the effect of arm robot itinerary, holes orientation and materials type on holes accuracy and toolpath angularity of Aluminum Alloy 6061 (Al 6061) and High-density polyethene (HDPE). A series of drilling experiments by using COMAU robot with 24 runs were conducted at difference combination parameters. The measurement on hole accuracy and toolpath angularity were done by CMM machine. Response surface methodology (RSM) was used as a design of experiment (DOE) for optimization. Evaluation by ANOVA showing that the interaction between arm robot itinerary and material type found to be significant factor for the hole accuracy whilst the orientation of the hole dominant factor affecting the toolpath angularity. Optimization results show that the best accuracy and angularity of the drilling hole when the arm robot itineraries of 971.82 mm (vertical direction) and 1120.65 mm (horizontal direction) for Al 6061 and HDPE respectively.


Industrial robot Precision manufacturing High-speed drilling 



The authors are grateful to the Advanced Manufacturing Center, Universiti Teknikal Malaysia Melaka and the Ministry of Education Malaysia for funding this research project through grants no: FRGS/2018/FKP-AMC/F00378.


  1. 1.
    Taiwantrade: How Industrial Robot Application in Manufacturing Is Changing The Way We Manufacture? (2018). Accessed 12 Apr 2019
  2. 2.
    International Federation of Robotics: Executive Summary World Robotic 2017 Industrial Robots (2017)Google Scholar
  3. 3.
    Bu, Y., Liao, W., Tian, W., Zhang, J., Zhang, L.: Stiffness analysis and optimization in robotic drilling application. Precis. Eng. 49, 388–400 (2017)CrossRefGoogle Scholar
  4. 4.
    Dumas, C., Caro, S., Garnier, S., Furet, B.: Joint stiffness identification of six-revolute industrial serial robots. Robot. Comput. Integr. Manuf. 27(4), 881–888 (2011)CrossRefGoogle Scholar
  5. 5.
    Garnier, S., Subrin, K., Waiyagan, K.: Modelling of robotic drilling. Procedia CIRP 58, 416–421 (2017)CrossRefGoogle Scholar
  6. 6.
    Day, D., Raines, M., Swift, K.: Process capable tolerancing. Mach. Des. (2005)Google Scholar
  7. 7.
    Japanese Standard: JIS B 0408:1991 - General dimensional tolerances for parts formed by press working from sheet metal. Japanese Standards Association (2015)Google Scholar
  8. 8.
    International Standard: ISO 286 - Part 2: Geometrical product specifications (GPS) - ISO code system for tolerances on linear sizes. (2010)Google Scholar
  9. 9.
    Hills, R.G., Trucano, T.G.: Statistical Validation of Engineering and Scientific Models: Background, New Mexico (1999)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Advanced Manufacturing Centre, Fakulti Kejuruteraan PembuatanUniversiti Teknikal Malaysia MelakaMelakaMalaysia

Personalised recommendations