For a 6R milling robot, it is necessary to convert the postprocessing cutter locations (CL) into the robot's revolute joint variables. This paper introduces an algorithm for calculating the forward and inverse kinematics of a 6R robot according to the CL data generated by conventional CAD/CAM systems. A redundant mechanism is analyzed to avoid the singular configurations and joint limits. The Denavit-Hartenberg (D-H) convention is referred to for developing the forward kinematics, and a closed-form solution of the inverse kinematics is presented by means of kinematic decoupling. A fundamental approach with modifying factor for avoiding singularity are developed with regard to three-axis and five-axis CL data. A gap bridging strategy is applied to reduce the jerk motion caused by tool retraction and cut paths connection. Finally, the result is conducted to simulation and machining test to verify the algorithms.

In recent years parallel kinematic machines for wood machining have come into use more frequently. Despite first promising prototypes, these machines are single solutions for specific applications. To meet the requirements of shorter product life cycles and higher product diversity, high flexibility is demanded of the machining system. This paper presents a new wood machining center obtaining both, the reduction of the primary and secondary processing times. The machine concept, based on a parallel kinematic structure, allows high operating speeds and accelerations not only for workpiece machining but also for handling. Thus, the machine can be used without any external handling devices. The kinematic structure originates from a plane closed five-bar chain with two linear drives and additional drive axes for stroke and rotation. In order to increase the useable workspace a continuous motion between different assembly modes is realized. To guarantee a high feed rate and to minimize setup times, an optimized dust exhaustion is included.

With rising feed rates of wood working machines, it is important to realize a process-integrated quality assurance. The quality control of produced workpieces is mainly carried out by the operator. As his capabilities are limited, an automated quality control system can help to assure a constant quality level. Due to the high production speeds, only an optical measurement can be used. While CCD-camera-based control systems are generally applied in wood working, no approach has been made so far to measure the surface roughness which is caused by the machining of the workpiece. This paper presents two different quality control systems for an assessment of the surface quality of a workpiece. In planing of solid wood, the size of the waves on the surface is most significant for workpiece quality. An image processing system has been developed which measures the width of the waves by means of a special illumination. In machining chipboards, the size and number of cracks in the edge are very important. Here, a camera-based system is presented which is able to measure the complete workpiece edge even at high feed rates with a sufficient resolution.

Drilling of wood is besides milling, sawing and grinding one of the most important production processes in industrial furniture manufacturing. For the body assembly and the fixing of fittings, boreholes are essential. They have immediate effect on quality and production costs. The process step drilling limits the output of stationary and throughfeed machines, because the workpieces have to be stopped to create the drillings at a relatively low feed speed. An essentially increased performance cannot be reached by the improvement of conventional drilling devices. The aim of the work presented in this paper is the development of an alternative production process in which blind holes can be punched. Thereby thin-walled, cylinder-shaped tools are pressed into different solid and derived timber workpieces by a simple translative movement. For it special experimental setups have been designed. The new production process opens possibilities for an optimization and acceleration of process cycles in industrial wood machining.