The literature review about the robots, their parts, processes and modeling of the robots will be discussed in the literature review section.

Robotic Machining of parts of Robot Mass Finishing

Robotic machining of the parts depends on the type of the materials, the material can be hard as well as it can be soft. In the soft material machining, the quality of the machinery is not that important than in the machining of the hard material. The robots are used to machine different pats in the industry to cut the different pieces of aluminum; it is used in automobile industry to cut different parts of the cars and automobiles. Robots are used in several industries but it has some issues as well in the machining of the parts. The robotic machining has some issues including the accuracy issues. Industrial robots are constructed with complex structures in which different things are installed in the robots like the motors, reduction gears and breaks. Due to the complex structure of the robots they struggle to get to a high level accuracy and they become restricted with the complex structures. In the robotic machining of the parts there are many processes and many methods in which robots assist in the machining system and collaborate in different processes (Sugita, Itaya and Takeuchi.).

Modeling of robotic machining of Robot Mass Finishing

The modeling of the robot is an important process. The modeling of the robot is often described as the kinematic model of the robot. The most common and appropriate method of modeling of the robotic machining is the Denavit and the Hartenberg Approach. This common method depends and based on the different matrices that represent the transformation of the different frames of the reference that are linked and that associate with the joints of the robots. Modeling is an important process to identify the errors in the robots and where these errors are located. The kinematic model used for the modeling of the robots is fully dependant on the types of the robots and what fro what process the robot will be going to use for. Robert modeling is an important process to identify all the major flaws in the robots that can be improved with the help of the Kinematic Modeling. Because in the kinematic model kinematic errors are included which identify the errors in the joint offsets of the robots as well as in the link length? Kinematic Modeling helps in improving the robot and the flaws in it (Paolo Redaelli).

Robot Calibration of Robot Mass Finishing

After the modeling of the robotic machining, next comes the robot calibration. In the Calibration process, data is collected and the collected data is used to identify the parametric errors. The method of the robotic calibration and the instruments are dependent on the identification approach. But the methods that is most used in the calibration is the measuring of the position of the robot end effectors and this can be measured with the help of the 3D measurement devices like the laser tracker and the 3D camera system. To do the calibration o the robot, the selection of the measurement tool is very important, the measurement tool, should be choose properly and very carefully to do the calibration of the robots. And this tool should be more accurate and precise than the accuracy of the robot that is expected. This means that the measuring tool that is used should be more precise and accurate than the robots and its systems so that the calibration can be done properly. Another method of calibration in the robots is the inverse calibration in which we determine the errors and measure the errors present in each joints of the robots (Braumann and Brell-Cokcan). 

References of Robot Mass Finishing

Braumann, Johannes and Sigrid Brell-Cokcan. "Parametric robot control: integrated CAD/CAM for architectural design." (2011).

Dethlefs, Arne, Eckart Uhlmann and Alexander Eulitz. "Investigation of material removal and surface topography formation in vibratory finishing." Procedia CIRP (2014): 25-30.

E., A. Dethlefs Uhlmann and A. Eulitz. "Investigation into a geometry-based model for surface roughness prediction in vibratory finishing processes." The International Journal of Advanced Manufacturing Technology (2014): 815-823.

Paolo Redaelli. "Surface flow finishing machine." .S. Patent 8,920,215 (2014).

Sugita, Shinichi, T. Itaya and Y. Takeuchi. "Development of robot teaching support devices to automate deburring and finishing works in casting." The International Journal of Advanced Manufacturing Technology (2004).