To improve the machining efficiency of robot milling of large aluminum alloy components without reducing the machining quality

a comparative experimental study of applying planetary compound milling method was conducted. A robotic planetary compound milling system was proposed first

while its basic structure and operation principle were introduced. The tool nose trajectories of robotic planetary compound milling (RPCM) and robot end milling (REM) were compared by establishing the models of the tool nose trajectories. Then

a series of single-factor robot milling experiments about Al-2024 were carried out

and the machining efficiency

cutting force and surface roughness of RPCM and REM feeding along X or Y directions were investigated. The results showed that compared with REM

the machining efficiency of RPCM has been improved at least 21.34% and surface roughness has been reduced by at least 33.33%. At the same time

the maximum cutting force component and the axial cutting force of RPCM were superior to REM. The RPCM is equivalent to an ordered combination of multiple trochoidal milling with spaced fixed phase angles. Under the conditions of the same robot system configuration and processing parameter combination

the machining performance of RPCM is better than REM.