STEP-NC Architectures for Industrial Robotic Machining: Review, Implementation and Validation

In the manufacturing sector, industrial robots are being increasingly improved to execute machining tasks as they exhibit significant advantages in terms of flexibility, cost-effectiveness, affordability, and larger work-space when compared to traditional computer numeric control (CNC) machines. However, programming this kind of equipment for robotic machining is complex, due to closed architecture controller and proprietary programming languages limitations. For that reason, this work aims at contributing to the adoption of the STEP-NC standard (STandard for the Exchange of Product model data- Numerical Control (ISO 10303-238 and ISO 14649)), generating programs for robotic machining operations. The STEP-NC data model enables the integration of information from design, process planning, simulation, manufacturing, and even inspection in a single platform, which could create new alternatives for industrial robotic machining programming. In this context, several previous studies are described in this manuscript aiming to highlight the contribution of this work, in addition to the analysis, implementation, and validation of six different STEP-NC architectures describing the advantages that each architecture provides for achieving robotic machining capabilities. Each introduced architecture can successfully generate a STEP-NC robotic machining program, either as ISO 10303-238 or ISO 14649, which are validated in a simulation environment with both a virtual robot model and a real industrial robot equipped with a LinuxCNC controller. This approach can be implemented in different industrial robots.