I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
14
,
No
.
3
,
Sep
tem
b
er
20
25
,
p
p
.
45
1
~
46
2
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
14
i
3
.
pp
45
1
-
46
2
451
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ur
na
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:
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ttp
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ticle
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to
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y:
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y
2
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2
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ev
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J
u
l 1
8
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2
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g
2
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2
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2
5
Trad
it
io
n
a
l
su
b
trac
ti
v
e
tec
h
n
o
l
o
g
y
is
ra
p
id
l
y
lo
si
n
g
sig
n
ifi
c
a
n
c
e
with
th
e
a
d
v
e
n
t
o
f
d
ig
it
a
l
m
a
n
u
fa
c
tu
r
in
g
tec
h
n
o
l
o
g
ies
,
w
h
ich
o
ffe
r
a
ffo
rd
a
b
le
m
a
c
h
in
in
g
with
h
i
g
h
a
c
c
u
ra
c
y
a
n
d
re
p
e
a
tab
il
it
y
.
C
o
m
p
u
ter
n
u
m
e
ric
c
o
n
tro
ll
e
d
(CNC)
m
a
c
h
in
in
g
h
a
s
b
e
e
n
a
ro
u
n
d
f
o
r
a
w
h
il
e
;
h
o
we
v
e
r,
it
h
a
s
b
e
e
n
c
o
stly
t
o
o
w
n
o
n
e
.
S
in
c
e
th
e
c
o
n
c
e
p
t
o
f
CNC m
a
c
h
in
i
n
g
is
n
o
w b
ro
a
d
l
y
u
n
d
e
rst
o
o
d
a
n
d
o
p
e
n
-
so
u
rc
e
so
ft
wa
re
is
a
v
a
il
a
b
le
fo
r
c
o
n
tro
l
,
d
e
sig
n
e
rs
c
a
n
m
a
k
e
u
se
o
f
a
v
a
il
a
b
le
lo
c
a
l
m
a
t
e
rials
to
d
e
v
e
lo
p
c
h
e
a
p
e
r
CNC
m
a
c
h
in
e
s.
He
n
c
e
,
th
is
p
re
se
n
ts
th
e
e
v
a
l
u
a
ti
o
n
o
f
th
e
d
e
sig
n
a
n
d
d
e
v
e
l
o
p
m
e
n
t
o
f
a
o
n
e
-
sq
u
a
re
-
m
e
ter
CNC
m
il
li
n
g
m
a
c
h
in
e
.
Th
e
c
o
n
tro
l
wa
s
imp
lem
e
n
ted
o
n
Ard
u
i
n
o
U
n
o
,
wh
il
e
o
p
e
n
-
s
o
u
rc
e
Un
iv
e
rsa
l
G
-
c
o
d
e
S
e
n
d
e
r
(UG
S
)
a
n
d
G
-
c
o
d
e
re
fe
re
n
c
e
b
lo
c
k
l
i
b
ra
ry
(G
RBL)
we
re
u
se
d
fo
r
th
e
G
-
c
o
d
e
g
e
n
e
ra
ti
o
n
a
n
d
m
a
c
h
in
e
c
o
n
tr
o
l,
re
sp
e
c
ti
v
e
l
y
.
T
h
e
b
u
il
t
CNC
wa
s
c
a
li
b
ra
ted
a
n
d
tes
ted
o
n
wo
o
d
a
n
d
p
las
ti
c
m
a
teria
ls,
a
n
d
t
h
e
re
su
lt
in
g
p
ro
d
u
c
ts
we
re
a
c
c
e
p
tab
le
i
n
a
c
c
u
ra
c
y
u
p
t
o
±0
.
0
2
m
m
in
th
e
first
tri
a
l
,
b
u
t
a
tt
a
in
e
d
p
e
rfe
c
t
a
c
c
u
ra
c
y
b
y
th
e
th
ir
d
tri
a
l.
M
u
lt
ip
le
tes
ts
re
p
e
a
ted
ly
sh
o
we
d
t
h
a
t
a
c
c
u
ra
c
y
wa
s
m
a
in
tain
e
d
.
S
i
n
c
e
th
e
m
a
c
h
in
e
is
re
c
o
n
fig
u
ra
b
le,
fu
t
u
re
wo
r
k
e
n
tails
a
u
to
m
a
ti
o
n
a
n
d
in
c
o
rp
o
ra
ti
n
g
las
e
r
c
u
tt
in
g
c
a
p
a
b
i
li
ti
e
s i
n
to
th
e
m
a
c
h
in
e
.
K
ey
w
o
r
d
s
:
Acr
y
lic
C
o
m
p
u
ter
aid
ed
d
esig
n
C
o
m
p
u
ter
aid
ed
m
an
u
f
ac
tu
r
in
g
C
o
m
p
u
ter
n
u
m
er
ic
co
n
tr
o
lled
m
illi
n
g
W
o
o
d
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Olu
waseu
n
Kay
o
d
e
Ajay
i
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
T
s
h
wan
e
Un
iv
er
s
ity
o
f
T
ec
h
n
o
lo
g
y
Pre
to
r
ia,
So
u
th
Af
r
ica
E
m
ail: a
o
k
ajay
i@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
C
o
m
p
u
ter
n
u
m
er
ic
co
n
tr
o
l
(
C
NC
)
m
ac
h
in
in
g
is
a
s
u
b
tr
ac
tiv
e
tech
n
o
lo
g
y
,
as
it
wo
r
k
s
b
y
s
y
s
tem
atica
lly
r
em
o
v
in
g
m
at
er
ial
f
r
o
m
t
h
e
p
ar
e
n
t
m
ater
i
al
u
n
til
th
e
d
esire
d
s
h
a
p
e
i
s
f
o
r
m
ed
.
I
t
is
a
s
u
s
tain
ab
le
m
an
u
f
ac
tu
r
in
g
m
e
th
o
d
wh
ich
h
elp
s
m
in
im
ize
ca
r
b
o
n
em
is
s
io
n
s
in
p
r
o
d
u
ctio
n
p
r
o
ce
s
s
es.
T
h
is
is
s
o
b
ec
au
s
e
th
e
o
p
er
atio
n
p
r
o
ce
s
s
i
s
o
p
tim
ized
f
o
r
a
m
in
im
al
b
u
t
ef
f
ec
tiv
e
p
r
o
d
u
ctio
n
p
r
o
ce
s
s
[
1
]
.
Dig
ital
m
an
u
f
ac
tu
r
in
g
is
tak
in
g
a
s
h
a
r
p
u
p
war
d
g
r
o
wth
,
im
p
ac
tin
g
all
in
d
u
s
tr
ial
p
r
ac
tices
an
d
m
an
u
f
ac
tu
r
i
n
g
.
Mo
s
t
p
ar
ts
in
m
an
u
f
ac
tu
r
in
g
in
d
u
s
t
r
ies
n
o
w
s
ee
k
to
in
co
r
p
o
r
ate
d
ig
ital
m
an
u
f
ac
tu
r
i
n
g
in
to
th
e
ir
o
p
er
atio
n
al
lin
e
-
ups
[
2
]
–
[
4
]
.
L
ar
g
e
s
ca
le
p
r
o
d
u
ctio
n
r
eq
u
ir
es
s
h
o
r
t
p
r
o
d
u
cti
o
n
tim
e;
h
en
c
e,
th
e
C
NC
au
to
m
atio
n
co
m
es
in
h
an
d
y
,
w
h
er
e
s
h
o
r
t
p
r
o
d
u
ctio
n
tim
e
with
h
ig
h
v
o
lu
m
e
a
n
d
u
n
if
o
r
m
p
r
o
d
u
cts
ar
e
in
teg
r
ated
in
to
th
e
s
h
o
p
lay
o
u
t
[
5
]
,
[
6
]
.
E
n
g
in
ee
r
s
an
d
m
a
n
u
f
ac
tu
r
er
s
co
n
tin
u
ally
f
ac
e
th
e
ch
alle
n
g
e
o
f
d
eter
m
in
in
g
th
e
m
o
s
t
ef
f
ec
tiv
e
p
r
o
d
u
ctio
n
m
eth
o
d
.
Similar
ly
,
th
e
ty
p
e
a
n
d
f
o
r
m
o
f
th
e
d
esire
d
p
r
o
d
u
ct
r
eq
u
ir
es
th
e
task
o
f
d
ec
id
in
g
if
C
NC
m
ac
h
in
in
g
wo
u
l
d
b
e
th
e
o
p
ti
m
al
ch
o
ice
f
o
r
th
e
p
r
o
d
u
ctio
n
[
7
]
.
Af
f
o
r
d
ab
ilit
y
an
d
co
s
t
m
an
ag
em
en
t
in
th
e
f
ab
r
icatio
n
an
d
o
p
er
atio
n
o
f
C
NC
m
ac
h
in
es
m
u
s
t
b
e
ca
r
ef
u
ll
y
co
n
s
id
er
ed
,
esp
ec
ially
with
th
e
co
n
v
er
s
io
n
in
t
o
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
45
1
-
46
2
452
d
ig
ital
m
an
u
f
ac
tu
r
in
g
[
8
]
,
[
9
]
.
R
ap
id
p
r
o
to
ty
p
in
g
,
h
ig
h
p
r
o
d
u
ctio
n
r
ates,
u
n
if
o
r
m
q
u
ality
,
an
d
cu
s
to
m
izatio
n
r
eq
u
ir
e
th
e
n
ee
d
f
o
r
c
u
s
to
m
izab
le
d
ig
ital
m
an
u
f
ac
tu
r
in
g
m
a
ch
in
es.
Similar
ly
,
s
ize
an
d
s
h
ap
e
co
n
s
tr
ain
ts
also
p
r
o
v
id
e
a
b
asis
f
o
r
s
elf
-
m
ad
e
m
an
u
f
ac
tu
r
in
g
m
ac
h
i
n
e
s
[
5
]
.
T
h
ese
ar
e
im
p
o
r
tan
t
asp
ec
ts
o
f
d
ig
ital
m
an
u
f
ac
tu
r
in
g
b
ec
au
s
e
n
o
t
o
n
ly
s
h
o
u
ld
th
ese
f
ac
to
r
s
b
e
co
n
s
id
er
ed
,
b
u
t
th
e
ty
p
es
o
f
m
ater
ials
u
s
ed
f
o
r
p
r
o
d
u
ctio
n
o
r
to
b
e
p
r
o
d
u
ce
d
s
h
o
u
ld
b
e
in
clu
d
ed
in
t
h
e
d
e
s
ig
n
o
f
th
ese
m
ac
h
in
es.
W
o
o
d
,
p
last
ics,
m
etals,
g
lass
,
f
o
am
,
an
d
c
o
m
p
o
s
ites
ar
e
am
o
n
g
th
e
m
ater
ials
th
at
ca
n
b
e
C
NC
m
ac
h
in
ed
a
n
d
ar
e
u
s
ed
i
n
th
e
ae
r
o
s
p
ac
e,
au
to
m
o
tiv
e,
a
n
d
m
ed
ical
in
d
u
s
tr
ies.
T
h
e
r
ap
id
l
y
ch
a
n
g
in
g
p
r
o
d
u
ct
r
eq
u
ir
e
m
en
ts
,
tech
n
o
lo
g
y
,
ad
v
o
ca
cy
f
o
r
s
u
s
tain
ab
i
lity
,
an
d
af
f
o
r
d
a
b
ilit
y
,
in
lin
e
with
S
DG
g
o
als
8
,
9
,
1
1
,
an
d
1
2
,
ad
v
o
ca
te
in
d
iv
id
u
alize
d
p
ar
ticip
atio
n
in
d
ig
ital
m
an
u
f
ac
tu
r
in
g
u
s
in
g
C
NC
tech
n
o
lo
g
y
[
6
]
.
Ali
et
a
l.
[
1
0
]
,
in
o
r
d
e
r
to
co
n
v
en
ien
tly
in
ter
ac
t
with
d
ig
ital
m
an
u
f
ac
tu
r
in
g
,
th
e
y
d
e
v
elo
p
e
d
a
h
ig
h
s
p
ee
d
m
in
i CNC
m
ac
h
in
e
with
lo
w
p
o
wer
co
n
s
u
m
p
tio
n
an
d
±
0
.
0
1
m
m
ac
cu
r
ac
y
.
So
m
e
o
f
th
ese
cu
s
to
m
ized
m
ac
h
in
es
ar
e
f
o
r
p
r
iv
at
e
u
s
e,
b
u
t
r
ec
en
tly
,
Sn
ein
el
et
a
l.
[
9
]
d
ev
elo
p
e
d
a
C
NC
wo
o
d
ca
r
v
in
g
m
ac
h
in
e
f
o
r
ar
tis
an
s
,
wh
ich
ac
h
iev
ed
a
n
ac
cu
r
ac
y
b
etwe
en
±
0
.
1
a
n
d
±
0
.
1
5
m
m
.
I
n
[
1
1
]
,
a
m
in
i
C
NC
m
illi
n
g
m
ac
h
in
e,
d
ev
elo
p
e
d
th
at
will
b
e
ac
ce
s
s
ib
le
f
o
r
tr
ai
n
in
g
s
tu
d
en
ts
,
w
as
p
r
esen
ted
.
T
h
is
m
ac
h
in
e
is
m
a
d
e
a
v
ailab
le
f
o
r
s
tu
d
en
ts
to
o
p
er
ate,
as
m
o
s
t
in
s
titu
tio
n
s
d
o
n
o
t
g
i
v
e
s
tu
d
en
ts
in
d
iv
id
u
alize
d
ac
ce
s
s
to
s
u
ch
m
ac
h
in
es.
I
n
ad
d
itio
n
,
s
in
ce
th
e
co
s
t
o
f
ac
q
u
ir
in
g
C
NC
m
ac
h
in
es
is
h
ig
h
,
th
e
p
r
o
g
r
ess
iv
e
k
n
o
wled
g
e
o
f
elec
tr
o
n
ics
h
as
in
cr
ea
s
ed
p
ar
ticip
atio
n
i
n
d
i
g
ital
d
ev
elo
p
m
en
ts
.
Op
en
-
s
o
u
r
ce
s
o
f
twar
e
an
d
co
d
es
ar
e
av
ailab
le,
a
n
d
th
er
e
is
m
u
ch
f
am
iliar
ity
with
t
h
e
o
p
er
atio
n
al
s
eq
u
en
ce
,
h
en
ce
en
th
u
s
iast
s
as
well
as
m
ac
h
in
is
ts
ca
n
u
p
g
r
ad
e
ex
is
tin
g
tr
ad
itio
n
al
m
ac
h
in
es
to
co
m
p
u
ter
co
n
tr
o
lled
o
r
b
u
ild
n
ew
o
n
es.
On
th
is
b
ac
k
g
r
o
u
n
d
,
Ay
ala
-
C
h
au
v
in
e
t
a
l.
[
1
2
]
,
d
ev
elo
p
ed
a
m
in
i,
l
o
w
co
s
t
C
NC
m
illi
n
g
m
ac
h
in
e
f
o
r
wo
o
d
wo
r
k
in
g
.
Usu
ally
,
m
o
s
t
s
elf
-
m
ad
e
C
NC
m
illi
n
g
m
ac
h
in
es
ar
e
m
in
i
a
n
d
ar
e
lim
ited
t
o
wo
o
d
cu
ttin
g
.
I
t
is
n
ec
ess
ar
y
to
ex
ten
d
th
e
r
an
g
e
o
f
m
ater
ial
s
an
d
th
e
s
ize
o
f
th
ese
n
o
n
-
co
m
m
er
cial
m
ac
h
in
es,
wh
ich
will
in
cr
ea
s
e
th
eir
ap
p
licatio
n
.
I
n
C
NC
m
ac
h
i
n
i
n
g
,
ti
m
e
,
e
n
e
r
g
y
,
a
n
d
c
o
s
t
s
a
v
i
n
g
s
a
r
e
v
e
r
y
i
m
p
o
r
t
a
n
t
.
T
h
is
ca
n
b
e
ac
h
i
e
v
e
d
b
y
o
p
t
i
m
i
z
i
n
g
t
h
e
p
r
o
c
e
s
s
p
a
r
a
m
et
e
r
s
[
1
3
]
.
O
p
t
i
m
i
zi
n
g
o
r
c
o
n
t
r
o
l
l
i
n
g
p
r
o
c
e
s
s
p
a
r
a
m
e
t
e
r
s
h
a
s
b
e
e
n
d
e
e
m
e
d
o
n
e
o
f
t
h
e
m
o
s
t
i
m
p
o
r
t
a
n
t
as
p
e
c
ts
o
f
c
o
m
p
u
t
e
r
-
c
o
n
t
r
o
l
l
e
d
o
r
d
i
g
it
al
m
a
n
u
f
a
c
t
u
r
i
n
g
[
1
4
]
.
P
r
o
c
es
s
p
a
r
a
m
e
t
e
r
s
c
a
n
b
e
m
a
t
e
r
i
a
l
-
o
r
s
h
a
p
e
-
s
p
e
ci
f
i
c
;
h
en
c
e
,
a
g
e
n
e
r
i
c
p
r
o
c
e
s
s
p
a
r
a
m
et
e
r
c
a
n
n
o
t
b
e
u
s
e
d
f
o
r
a
l
l
m
ate
r
i
a
l
s
.
P
r
e
ci
s
i
o
n
is
g
e
r
m
a
n
e
i
n
p
r
o
d
u
c
i
n
g
p
a
r
ts
a
n
d
p
r
o
d
u
c
t
s
,
a
n
d
i
t
i
s
t
h
e
b
a
s
is
f
o
r
c
o
m
p
u
t
e
r
n
u
m
e
r
i
c
c
o
n
t
r
o
l
[
1
5
]
.
A
l
t
e
r
at
i
o
n
s
a
n
d
c
h
a
n
g
e
s
i
n
p
r
o
c
e
s
s
p
a
r
a
m
e
te
r
s
i
n
C
NC
m
a
c
h
i
n
i
n
g
r
e
s
u
l
t
i
n
v
ar
i
a
t
i
o
n
s
i
n
t
h
e
o
u
t
c
o
m
e
o
f
t
h
e
m
a
c
h
i
n
e
d
p
a
r
t
.
T
h
eo
r
etica
l
m
o
d
ellin
g
o
f
th
e
C
NC
is
cr
u
cial
to
d
ev
elo
p
in
g
cu
s
to
m
ized
s
o
lu
tio
n
s
to
its
d
esig
n
an
d
co
n
tr
o
l
s
tr
ateg
y
[
1
6
]
.
T
h
e
m
o
d
elin
g
p
r
o
v
id
es
th
e
d
esig
n
e
r
with
th
e
s
tr
u
ctu
r
al
co
n
f
i
g
u
r
ati
o
n
s
an
d
h
o
w
th
ey
in
ter
ac
t.
T
h
is
r
eso
u
r
ce
is
a
g
o
o
d
in
p
u
t
f
o
r
th
e
au
to
m
atio
n
a
n
d
r
em
o
te
co
n
tr
o
l
o
f
th
e
s
y
s
te
m
s
[
1
7
]
.
I
t
was
also
s
u
g
g
ested
to
b
e
h
elp
f
u
l
in
t
h
e
ca
s
e
o
f
d
ig
ital
twin
a
p
p
l
icatio
n
s
.
C
NC
m
ac
h
in
in
g
is
a
c
o
m
p
u
ter
aid
e
d
m
an
u
f
ac
tu
r
in
g
(
C
AM
)
tech
n
o
lo
g
y
th
at
r
eq
u
ir
es
a
g
o
o
d
k
n
o
wled
g
e
o
f
co
m
p
u
ter
ai
d
ed
d
esig
n
(
C
AD)
,
ac
co
r
d
in
g
to
Gu
i
et
a
l.
[
1
8
]
wh
o
d
ev
elo
p
ed
a
d
r
aw
-
to
-
cu
t
C
NC
ap
p
licatio
n
f
o
r
ar
tef
ac
t
s
.
T
h
is
cu
s
to
m
ized
ap
p
licatio
n
u
s
es
d
r
awin
g
lan
g
u
ag
e
th
at
c
o
n
v
e
r
ts
h
an
d
s
k
etch
es
o
n
m
ater
ials
to
m
ac
h
in
e
lan
g
u
ag
e
f
o
r
th
e
cu
ttin
g
o
p
e
r
atio
n
.
T
h
e
life
cy
cle
o
f
a
m
ac
h
in
e
in
clu
d
es
th
e
d
esig
n
,
m
an
u
f
ac
tu
r
e,
in
s
tallatio
n
,
an
d
co
m
m
is
s
io
n
in
g
[
1
9
]
,
[
2
0
]
.
T
h
is
w
o
r
k
p
r
esen
ts
t
h
e
l
if
e
cy
cle
o
f
a
o
n
e
-
s
q
u
ar
e
-
m
et
er
C
NC
m
illi
n
g
m
ac
h
in
e.
I
t
was
in
s
p
ir
ed
b
y
t
h
e
r
ec
u
r
r
en
t
n
e
ed
f
o
r
h
ig
h
-
v
o
lu
m
e
p
r
ec
is
io
n
cu
ttin
g
f
o
r
p
r
o
j
ec
ts
in
th
e
d
ep
ar
tm
en
t.
Ho
we
v
er
,
th
e
d
ep
a
r
tm
en
t
ca
n
n
o
t
a
f
f
o
r
d
a
n
ew
C
NC
m
illi
n
g
m
ac
h
in
e
,
s
o
t
h
e
ad
d
itiv
e
m
an
u
f
ac
tu
r
in
g
lab
o
r
ato
r
y
r
ai
s
ed
a
team
m
ain
ly
f
r
o
m
th
e
ad
d
itiv
e
m
an
u
f
ac
tu
r
in
g
r
esear
ch
g
r
o
u
p
to
d
ev
elo
p
o
n
e.
T
h
e
d
etailed
d
esig
n
,
m
an
u
f
ac
tu
r
in
g
,
an
d
test
in
g
o
f
th
e
C
NC
m
ac
h
in
e
a
r
e
p
r
esen
ted
.
Similar
r
esear
c
h
h
as
b
ee
n
co
n
d
u
cte
d
in
r
esp
o
n
s
e
to
th
e
n
ee
d
.
Fo
r
ex
am
p
le,
B
u
k
h
a
r
i
et
a
l.
[
2
1
]
a
n
d
Ng
ad
i
y
o
n
o
et
a
l.
[
2
2
]
p
r
es
en
ted
cu
s
to
m
-
s
ized
C
NC
en
g
r
av
in
g
m
ac
h
in
e
f
o
r
ac
r
y
lic
p
r
o
d
u
cts,
u
n
d
er
s
co
r
in
g
th
e
p
ec
u
liar
ity
o
f
ap
p
licatio
n
an
d
n
ee
d
b
ased
C
NC
m
ac
h
in
e
d
ev
elo
p
m
en
t.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
d
is
cu
s
s
es
th
e
m
ater
ials
an
d
m
et
h
o
d
s
u
s
ed
to
d
esig
n
an
d
d
ev
el
o
p
t
h
e
C
NC
m
illi
n
g
m
ac
h
in
e.
I
t
also
p
r
esen
ts
th
e
ca
lib
r
atio
n
an
d
test
in
g
p
r
o
c
ed
u
r
es.
T
h
ese
d
escr
ip
ti
o
n
s
e
n
s
u
r
e
clar
ity
in
th
e
d
ev
elo
p
m
e
n
t p
r
o
ce
s
s
an
d
r
elia
b
ilit
y
in
th
e
ev
alu
atio
n
r
esu
lts
.
2
.
1
.
M
a
t
er
ia
ls
T
h
e
C
NC
m
illi
n
g
m
ac
h
in
e
was
m
ad
e
o
f
m
ec
h
an
ical,
elec
tr
ical,
an
d
elec
tr
o
n
ic
p
ar
ts
.
Me
ch
an
ical
p
ar
ts
,
wh
ich
ar
e
th
e
b
u
lk
o
f
th
e
m
ater
ials
u
s
ed
,
f
o
r
m
th
e
s
tr
u
ctu
r
al
f
r
am
e,
en
s
u
r
e
s
tab
ilit
y
,
an
d
g
u
id
e
th
e
m
o
v
em
en
t
o
f
th
e
a
x
es.
T
h
e
e
lectr
ical
an
d
elec
tr
o
n
ic
p
ar
ts
g
iv
e
p
o
wer
to
th
e
m
o
v
i
n
g
p
a
r
ts
an
d
th
e
cu
ttin
g
o
p
er
atio
n
.
T
h
ese
p
ar
ts
wer
e
in
ter
co
n
n
ec
ted
with
m
is
ce
llan
eo
u
s
p
a
r
ts
to
f
o
r
m
th
e
co
m
p
lete
m
ac
h
in
e.
Ho
wev
er
,
th
e
m
aj
o
r
m
ater
ials
u
s
ed
ar
e
d
escr
ib
e
d
in
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
E
va
lu
a
tin
g
th
e
d
ev
el
o
p
men
t a
n
d
cu
ttin
g
ca
p
a
city
o
f a
o
n
e
-
s
q
u
a
r
e
co
mp
u
ter
…
(
Olu
w
a
s
eu
n
K
a
yo
d
e
A
ja
yi
)
453
T
ab
le
1
.
Ma
jo
r
m
ater
ials
u
s
ed
f
o
r
th
e
d
ev
elo
p
m
en
t o
f
th
e
C
NC
m
illi
n
g
m
ac
h
in
e
P
a
r
t
D
e
scri
p
t
i
o
n
N
e
ma
2
3
st
e
p
p
e
r
mo
t
o
r
s
F
o
r
n
a
v
i
g
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
l
e
d
m
o
v
e
m
e
n
t
o
f
t
h
e
a
x
e
s
Le
a
d
s
c
r
e
w
M
o
v
e
me
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e
r
o
u
ter
+
W
eig
h
t o
f
th
e
b
lo
ck
o
n
wh
ic
h
th
e
m
o
to
r
is
m
o
u
n
ted
(
Gan
tr
y
)
=
3
1
Kg
=
3
0
4
.
1
1
N
.
∑
=
0
(
1
)
+
=
31
×
9
.
81
=
304
.
11
(
2
)
∑
=
0
(
3
)
304
.
11
×
500
−
×
1000
=
0
(
4
)
=
152
.
055
(
5
)
=
304
.
11
−
152
.
055
=
152
.
055
(
6
)
2
.
4
.
3
.
Desig
n
o
f
lea
d scre
ws
f
o
r
X
-
Ax
is
T
h
e
lead
s
cr
ew
g
u
id
es
th
e
d
r
illi
n
g
h
ea
d
in
x
d
ir
ec
tio
n
,
i.e
.
,
i
n
th
e
h
o
r
iz
o
n
tal
d
ir
ec
tio
n
.
Fo
r
ce
s
ac
tin
g
o
n
th
e
lead
s
cr
ew
ar
e
th
e
wei
g
h
t
o
f
th
e
Z
Ax
is
b
u
ild
(
i.e
.
,
th
e
m
o
to
r
o
f
th
e
Z
ax
is
,
R
o
u
ter
,
SB
R
r
ails
,
an
d
Gu
id
ed
r
ails
)
.
T
h
e
d
esig
n
ca
lc
u
latio
n
s
ar
e
p
r
esen
ted
in
(
7
)
to
(
12
).
W
eig
h
t o
f
th
e
Z
Ax
is
=
1
1
k
g
=
1
0
7
.
9
1
N
∑
=
0
(
7
)
+
=
107
.
91
(
8
)
∑
=
0
(
9
)
107
.
91
×
500
−
×
1000
=
0
(
1
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
45
1
-
46
2
456
=
53
.
955
(
1
1
)
=
107
.
91
−
53
.
955
=
53
.
955
(
1
2
)
2
.
4
.
4
.
P
o
wer
re
qu
irem
ent
T
h
e
p
r
im
a
r
y
p
o
wer
c
o
n
s
u
m
er
s
in
a
C
NC
m
illi
n
g
m
ac
h
in
e
a
r
e
th
e
m
o
to
r
s
r
esp
o
n
s
ib
le
f
o
r
m
o
v
in
g
th
e
v
ar
io
u
s
ax
es (
X,
Y,
Z
)
.
C
NC
m
ac
h
in
es r
eq
u
ir
e
co
n
tr
o
l e
lectr
o
n
ics,
in
clu
d
in
g
a
m
icr
o
co
n
tr
o
ller
,
m
o
to
r
d
r
iv
er
s
,
an
d
o
th
er
a
u
x
iliar
y
c
o
m
p
o
n
en
t
s
.
I
t a
ls
o
co
n
s
is
ts
o
f
co
o
lin
g
s
y
s
tem
s
to
m
ain
tain
th
e
o
p
tim
al
tem
p
er
atu
r
e
o
f
th
e
m
o
to
r
s
an
d
c
u
ttin
g
to
o
ls
.
I
t
i
s
ad
v
is
ab
le
to
in
clu
d
e
a
s
af
ety
m
ar
g
in
f
o
r
p
o
wer
ca
lcu
lati
o
n
s
to
ac
co
u
n
t
f
o
r
u
n
ex
p
ec
te
d
p
o
wer
s
u
r
g
es,
s
tar
t
-
u
p
cu
r
r
en
ts
,
an
d
o
th
er
v
ar
iati
o
n
s
.
3.
RE
SU
L
T
S
3
.
1
.
M
a
chine per
f
o
rm
a
nce
e
v
a
lua
t
io
n
Ma
ch
in
e
p
er
f
o
r
m
an
ce
e
v
alu
at
io
n
en
tails
an
aly
zin
g
th
e
C
NC
m
illi
n
g
m
ac
h
in
e
’
s
ca
p
ab
ilit
ie
s
in
ter
m
s
o
f
p
r
ec
is
io
n
,
s
p
ee
d
,
r
e
p
ea
tab
il
ity
,
s
u
r
f
ac
e
f
in
is
h
,
an
d
o
v
er
all
o
u
tp
u
t
q
u
ality
.
T
h
is
ass
es
s
m
e
n
t
in
v
o
lv
es
test
in
g
th
e
m
ac
h
in
e
’
s
ab
ilit
y
to
m
ee
t
d
esig
n
s
p
ec
if
icatio
n
s
,
ac
h
iev
e
d
esire
d
to
ler
an
ce
s
,
an
d
p
r
o
d
u
c
e
co
n
s
is
ten
t
r
esu
lts
ac
r
o
s
s
v
ar
io
u
s
m
ater
ials
an
d
m
ac
h
in
in
g
o
p
e
r
atio
n
s
.
GB
R
L
o
p
en
s
o
f
twar
e
is
u
s
ed
to
e
x
tr
a
ct
th
e
G
-
co
d
e
f
r
o
m
th
e
C
AD
d
r
awin
g
,
wh
ich
is
th
en
s
en
t
to
th
e
C
NC
m
ac
h
in
e
f
o
r
th
e
r
e
q
u
ir
ed
o
p
er
atio
n
.
T
h
e
s
p
ec
if
icatio
n
o
f
th
e
m
ajo
r
p
ar
ts
b
ased
o
n
th
e
d
esig
n
ca
lcu
latio
n
s
is
p
r
esen
ted
in
T
ab
le
3
.
T
ab
le
3
.
Sp
ec
if
icatio
n
s
o
f
p
ar
t
s
S
/
N
C
o
m
p
o
n
e
n
t
s
S
p
e
c
i
f
i
c
a
t
i
o
n
s
1
Le
a
d
S
c
r
e
w
X
-
a
x
i
s
Le
n
g
t
h
:
1
0
0
0
mm
,
D
i
a
m
e
t
e
r
:
8
mm
Y
-
a
x
i
s
Le
n
g
t
h
:
1
0
0
0
mm
,
D
i
a
m
e
t
e
r
:
8
mm
Z
-
a
x
i
s L
e
n
g
t
h
:
3
6
5
m
m,
D
i
a
m
e
t
e
r
:
8
mm
2
A
l
u
m
i
n
u
m P
l
a
t
e
s
Th
i
c
k
n
e
ss:
1
0
mm
3
S
B
R
1
2
U
U
Li
n
e
a
r
B
l
o
c
k
s
F
i
x
e
d
mo
d
e
o
f
sl
i
d
i
n
g
b
l
o
c
k
:
L
o
c
k
i
n
g
t
y
p
e
R
a
i
l
s
h
a
f
t
d
i
a
me
t
e
r
:
1
2
mm
u
se
d
f
o
r
Z
a
x
i
s
4
S
B
R
1
2
Li
n
e
a
r
R
a
i
l
s
Le
n
g
t
h
:
3
0
0
m
m
W
i
d
t
h
:
3
2
mm
S
h
a
f
t
d
i
a
m
e
t
e
r
:
1
2
mm
7
S
t
e
p
p
e
r
M
o
t
o
r
D
r
i
v
e
r
Ty
p
e
:
T
B
6
6
0
0
O
p
e
r
a
t
i
n
g
v
o
l
t
a
g
e
:
9
–
4
0
V
D
C
O
u
t
p
u
t
C
u
r
r
e
n
t
:
0
.
7
-
4
.
0
A
P
u
l
s
e
i
n
p
u
t
f
r
e
q
u
e
n
c
y
:
u
p
t
o
2
0
k
H
z
5
V
l
e
v
e
l
s i
n
p
u
t
s
i
g
n
a
l
2
0
0
–
6
4
0
0
p
u
l
se
p
e
r
r
e
v
o
l
u
t
i
o
n
Lo
g
i
c
si
g
n
a
l
c
u
r
r
e
n
t
:
8
–
1
5
mA
O
u
t
p
u
t
c
u
r
r
e
n
t
se
l
e
c
t
a
b
l
e
i
n
8
-
s
t
e
p
s
v
i
a
D
I
P
sw
i
t
c
h
e
s
S
u
i
t
a
b
l
e
f
o
r
2
a
n
d
4
p
h
a
s
e
m
o
t
o
r
s
15
N
EM
A
2
3
5
7
m
m St
e
p
p
e
r
M
o
t
o
r
V
o
l
t
a
g
e
R
a
t
i
n
g
:
3
.
2
V
C
u
r
r
e
n
t
R
a
t
i
n
g
:
2
.
8
A
S
t
e
p
A
n
g
l
e
:
1
.
8
d
e
g
.
S
t
e
p
s Per
R
e
v
o
l
u
t
i
o
n
:
2
0
0
N
o
.
o
f
P
h
a
ses
:
4
M
o
t
o
r
Le
n
g
t
h
:
7
8
.
7
4
mm
N
o
.
o
f
L
e
a
d
s:
4
I
n
d
u
c
t
a
n
c
e
P
e
r
P
h
a
s
e
:
3
.
6
mH
16
W
o
o
d
Tr
i
mm
e
r
R
o
u
t
e
r
R
a
t
e
d
p
o
w
e
r
i
n
p
u
t
:
6
5
0
W
R
a
t
e
d
V
o
l
t
a
g
e
:
2
2
0
-
2
4
0
V
R
a
t
e
d
F
r
e
q
u
e
n
c
y
:
5
0
/
6
0
H
z
N
o
L
o
a
d
s
p
e
e
d
:
3
0
0
0
r
e
v
/
mi
n
C
o
l
l
e
c
t
c
h
u
c
k
D
i
a
me
t
e
r
:
6
mm
3
.
2
.
M
a
chini
ng
prec
is
io
n a
n
d t
o
lera
nce
T
h
e
p
r
ec
is
io
n
o
f
th
e
C
NC
m
il
lin
g
m
ac
h
in
e
was
ev
id
en
t
in
its
co
n
s
is
ten
t
d
im
en
s
io
n
al
ac
cu
r
ac
y
wh
en
cr
ea
tin
g
v
ar
ie
d
test
co
m
p
o
n
e
n
ts
.
T
h
is
in
s
p
ec
tio
n
was
d
o
n
e
u
s
in
g
an
ac
c
u
r
ate
d
ig
ital
ca
li
p
er
.
T
h
e
m
ea
s
u
r
ed
av
er
ag
e
v
a
r
iatio
n
f
r
o
m
th
e
d
esire
d
d
im
en
s
io
n
s
was
well
co
n
tain
ed
with
in
a
m
ar
g
in
o
f
±
0
.
0
2
m
m
.
Fu
r
th
er
m
o
r
e
,
th
e
C
NC
m
illi
n
g
m
ac
h
in
e
was
test
ed
f
o
r
to
le
r
an
ce
ca
p
ab
ilit
ies
b
y
m
a
k
in
g
co
m
p
o
n
en
ts
d
ef
in
ed
b
y
co
m
p
licated
f
ea
tu
r
es
a
n
d
r
ig
o
r
o
u
s
d
im
en
s
io
n
al
t
o
ler
a
n
ce
s
.
C
o
m
p
ar
ativ
e
m
ea
s
u
r
e
m
en
ts
d
o
n
e
a
g
ain
s
t
r
ef
er
en
ce
d
im
e
n
s
io
n
s
p
r
o
v
e
d
th
e
m
ac
h
in
e
’
s
ad
h
er
en
ce
to
s
tip
u
lated
to
ler
an
ce
s
,
with
v
ar
ian
ce
s
f
o
u
n
d
well
with
in
p
er
m
is
s
ib
le
b
o
u
n
d
ar
ie
s
.
T
h
is
s
u
b
s
tan
tiate
s
th
e
m
ac
h
in
e
’
s
co
n
s
is
ten
t
ab
ilit
y
to
m
ee
t
h
ig
h
to
ler
an
ce
cr
iter
ia
an
d
en
a
b
les th
e
p
r
o
d
u
c
tio
n
o
f
ac
c
u
r
ate
an
d
p
r
ec
is
e
co
m
p
o
n
e
n
ts
as p
r
esen
ted
in
T
ab
l
es 4
an
d
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
E
va
lu
a
tin
g
th
e
d
ev
el
o
p
men
t a
n
d
cu
ttin
g
ca
p
a
city
o
f a
o
n
e
-
s
q
u
a
r
e
co
mp
u
ter
…
(
Olu
w
a
s
eu
n
K
a
yo
d
e
A
ja
yi
)
457
T
ab
le
4
.
D
r
illi
n
g
test
o
n
th
e
z
-
ax
is
D
r
i
l
l
i
n
g
t
e
s
t
1
st
r
e
a
d
i
n
g
(
mm
)
2
n
d
r
e
a
d
i
n
g
(
mm
)
3
r
d
r
e
a
d
i
n
g
(
mm
)
1
0
.
9
8
1
.
0
2
1
.
0
0
2
1
.
9
8
2
.
0
2
2
.
0
0
T
ab
le
5
.
P
r
ec
is
io
n
test
o
n
x
-
ax
is
P
o
c
k
e
t
t
e
st
(
mm
)
1
st
r
e
a
d
i
n
g
(
mm
)
2
n
d
r
e
a
d
i
n
g
(
mm
)
3
r
d
r
e
a
d
i
n
g
(
mm
)
1
0
.
0
0
9
.
9
8
1
0
.
0
2
1
0
.
0
0
2
0
.
0
0
2
0
.
0
0
2
0
.
0
0
2
0
.
0
0
2
5
.
0
0
2
4
.
9
8
2
5
.
0
2
2
5
.
0
0
4
0
.
0
0
4
0
.
0
0
4
0
.
0
0
4
0
.
0
0
5
0
.
0
0
5
0
.
0
0
5
0
.
0
2
5
0
.
0
0
3
.
3
.
M
a
t
er
ia
l
-
s
pecif
ic
o
bs
er
v
a
t
io
ns
3
.
3
.
1
.
Wo
o
d
Few
th
in
g
s
to
co
n
s
id
er
in
m
ac
h
in
in
g
w
o
o
d
ar
e
th
e
g
r
ai
n
o
r
ien
tatio
n
,
g
r
ain
p
atter
n
,
w
o
o
d
d
en
s
ity
an
d
m
o
is
tu
r
e
co
n
te
n
t.
T
h
ese
co
n
s
i
d
er
atio
n
s
d
eter
m
in
e
th
e
ch
o
ice
o
f
m
ac
h
in
in
g
p
ar
am
eter
s
s
u
ch
as
f
ee
d
r
ate,
to
o
l
ty
p
e,
an
d
c
u
ttin
g
d
e
p
th
.
W
r
o
n
g
s
elec
tio
n
o
f
th
ese
p
ar
am
eter
s
ca
n
r
esu
lt in
s
p
latter
in
g
,
tear
in
g
o
u
t,
an
d
a
r
o
u
g
h
s
u
r
f
ac
e
f
in
is
h
.
T
h
is
ca
n
m
ak
e
p
o
s
tp
r
o
ce
s
s
in
g
d
if
f
icu
lt o
r
e
v
e
n
im
p
o
s
s
ib
le
[
2
3
]
.
T
h
e
ch
o
ice
o
f
s
ea
lan
t,
wh
eth
er
p
o
ly
u
r
et
h
an
e,
v
a
r
n
is
h
,
o
r
o
il,
ex
ten
d
s
th
e
wo
o
d
’
s
lo
n
g
ev
it
y
an
d
ac
ce
n
tu
ates
its
n
atu
r
al
b
ea
u
ty
.
A
s
am
p
le
m
illi
n
g
o
p
er
atio
n
s
h
o
win
g
th
e
cu
ttin
g
p
r
o
ce
s
s
an
d
f
in
al
p
r
o
d
u
ct
is
p
r
esen
ted
in
Fig
u
r
es 4
a
n
d
5
.
Fig
u
r
e
4
.
Z
-
ax
is
r
o
u
te
r
h
o
l
d
er
m
illi
n
g
o
p
er
atio
n
Fig
u
r
e
5
.
C
u
t
-
o
u
t w
o
o
d
o
f
t
h
e
x
-
ax
is
r
o
u
te
r
h
o
l
d
er
3
.
3
.
2
.
P
la
s
t
ic
W
h
en
m
ac
h
in
in
g
p
last
ics,
m
an
ag
in
g
h
ea
t
g
e
n
er
atio
n
is
cr
itical.
Un
lik
e
m
etals,
p
las
tics
h
av
e
lo
wer
h
ea
t
r
esis
tan
ce
,
an
d
ex
ce
s
s
iv
e
h
ea
t
ca
n
lead
t
o
m
eltin
g
,
war
p
in
g
,
a
n
d
r
o
u
g
h
s
u
r
f
ac
e
f
in
i
s
h
es.
Ob
s
er
v
atio
n
s
s
u
g
g
est
th
at
o
p
tim
izin
g
cu
ttin
g
p
ar
am
eter
s
s
u
ch
as
f
ee
d
r
ates,
s
p
in
d
le
s
p
ee
d
s
,
an
d
d
ep
th
o
f
cu
ts
ca
n
h
elp
m
an
ag
e
h
ea
t
b
u
ild
u
p
an
d
p
r
o
d
u
ce
clea
n
,
p
r
ec
is
e
cu
ts
with
o
u
t
co
m
p
r
o
m
is
in
g
th
e
in
teg
r
i
ty
o
f
th
e
m
ater
ial.
C
lam
p
in
g
an
d
f
ix
tu
r
i
n
g
p
la
y
a
cr
u
cial
r
o
le
wh
en
m
ac
h
in
in
g
p
last
ics
[
2
4
]
,
[
2
5
]
.
Ob
s
e
r
v
atio
n
s
s
h
o
w
th
at
ad
ap
tin
g
cu
ttin
g
s
tr
ateg
ies
to
th
e
s
p
ec
if
ic
p
last
ic
ty
p
e
en
h
an
ce
s
m
ac
h
in
in
g
p
r
ec
is
io
n
an
d
r
ed
u
ce
s
th
e
r
is
k
o
f
is
s
u
es
lik
e
m
eltin
g
o
r
c
h
ip
p
in
g
[
2
1
]
.
T
h
e
cu
ttin
g
o
f
p
ar
ts
f
o
r
a
r
o
b
o
tic
ar
m
is
p
r
esen
ted
i
n
Fig
u
r
es
6
a
n
d
7
t
o
d
em
o
n
s
tr
ate
th
e
p
er
f
o
r
m
an
ce
o
f
ac
r
y
lic
i
n
th
e
m
illi
n
g
p
r
o
ce
s
s
.
Sam
p
les
o
f
d
r
illi
n
g
te
s
t,
p
o
ck
et
test
with
s
m
iley
cu
t o
n
wo
o
d
an
d
ac
r
y
lic
ar
e
p
r
esen
ted
i
n
Fig
u
r
es 8
t
o
1
1
,
r
esp
ec
tiv
el
y
.
Fig
u
r
e
6
.
T
h
e
cu
ttin
g
p
r
o
g
r
ess
o
f
th
e
r
o
b
o
tic
a
r
m
p
a
r
ts
Fig
u
r
e
7
.
T
h
e
ass
em
b
led
r
o
b
o
t
ic
ar
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
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S
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n
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J
R
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b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
45
1
-
46
2
458
Fig
u
r
e
8
.
T
h
e
d
r
illi
n
g
test
Fig
u
r
e
9
.
Po
c
k
et
test
Fig
u
r
e
1
0
.
Sm
iley
s
h
ap
e
cu
t te
s
t o
n
wo
o
d
Fig
u
r
e
1
1
.
Sm
iley
s
h
ap
e
cu
t te
s
t o
n
ac
r
y
lic
3
.
3
.
3
.
Co
m
pa
r
a
t
iv
e
a
na
ly
s
is
o
f
wo
o
d a
nd
a
cr
y
lic
C
NC
m
illi
n
g
m
ac
h
in
es
ca
n
b
e
u
s
ed
f
o
r
m
ac
h
in
in
g
wo
o
d
an
d
p
last
ic,
b
u
t
u
n
d
e
r
s
tan
d
in
g
th
e
d
if
f
er
en
ce
s
is
c
r
u
cial
f
o
r
ac
h
i
ev
in
g
o
p
tim
al
r
esu
lts
[
1
4
]
,
[
2
3
]
.
W
o
o
d
m
ac
h
in
in
g
in
v
o
lv
es
ad
ju
s
tin
g
to
o
ls
to
ac
co
m
m
o
d
ate
v
ar
iatio
n
s
i
n
g
r
ain
p
atter
n
s
,
d
en
s
ity
,
an
d
m
o
is
tu
r
e
co
n
ten
t,
w
h
ile
h
ea
t
c
o
n
tr
o
l
is
ess
en
tial
to
p
r
ev
en
t
b
u
r
n
i
n
g
o
r
war
p
in
g
.
C
h
ip
ev
ac
u
atio
n
is
also
v
ital
f
o
r
ac
h
iev
in
g
a
s
m
o
o
th
s
u
r
f
ac
e
f
in
is
h
.
T
ec
h
n
iq
u
es
lik
e
s
an
d
in
g
ar
e
n
ec
ess
ar
y
f
o
r
p
r
o
jects r
eq
u
ir
i
n
g
ae
s
th
etics.
C
o
n
v
er
s
ely
,
p
last
ic
m
ac
h
i
n
in
g
r
eq
u
ir
es
s
p
ec
ialized
to
o
ls
,
s
u
c
h
as
s
in
g
le
-
f
lu
te
en
d
m
ills
o
r
s
p
ir
al
“
O
”
f
lu
te
cu
tter
s
,
to
av
o
id
is
s
u
es
s
u
ch
as
m
eltin
g
an
d
ch
ip
p
in
g
.
Hea
t
m
an
ag
em
en
t
is
cr
itical
d
u
e
to
p
last
ics
’
lo
wer
h
ea
t r
esis
tan
ce
co
m
p
ar
ed
to
m
etals.
T
h
e
co
m
p
ar
ativ
e
p
er
f
o
r
m
an
ce
an
d
p
ar
am
eter
s
ar
e
p
r
e
s
en
ted
in
T
ab
le
6
.
T
ab
le
6
.
C
o
m
p
a
r
ativ
e
p
er
f
o
r
m
an
ce
an
d
p
ar
am
eter
s
f
o
r
wo
o
d
an
d
p
last
ic
P
r
o
p
e
r
t
y
W
o
o
d
P
l
a
st
i
c
R
o
t
a
t
i
o
n
f
r
e
q
u
e
n
c
y
(
n
(
r
p
m)
)
1
0
0
0
0
1
0
0
0
0
A
d
v
a
n
c
e
S
p
e
e
d
(
F
(
mm
/
s)
)
0
.
1
5
0
.
1
5
C
u
t
t
i
n
g
S
p
e
e
d
(
V
c
(
m/
mi
n
)
)
5
0
8
2
0
5
D
e
p
t
h
o
f
c
u
t
(
a
(
mm
)
)
2
3
4.
CO
NCLU
SI
O
NS
T
h
e
p
r
o
ce
s
s
o
f
d
esig
n
in
g
t
h
e
C
NC
m
illi
n
g
m
ac
h
in
e
h
as
b
ee
n
a
n
ex
ce
p
tio
n
al
ac
h
iev
em
en
t
th
at
em
b
o
d
ies
th
e
s
y
n
th
esis
o
f
cr
ea
tiv
ity
,
en
g
in
ee
r
in
g
ex
p
er
tis
e,
an
d
r
elen
tles
s
p
r
o
b
lem
-
s
o
l
v
in
g
.
T
h
r
o
u
g
h
th
e
co
llectiv
e
ef
f
o
r
ts
o
f
o
u
r
team
,
we
d
e
v
elo
p
ed
a
d
esig
n
th
at
ef
f
o
r
tles
s
ly
m
er
g
es
m
ec
h
a
n
ical
ac
cu
r
ac
y
with
in
tellig
en
t c
o
n
tr
o
l,
r
esu
ltin
g
in
th
e
co
n
s
tr
u
ctio
n
o
f
a
s
tu
r
d
y
a
n
d
h
ig
h
ly
ef
f
icien
t m
illi
n
g
to
o
l.
Fro
m
its
in
ce
p
tio
n
,
th
e
C
NC
m
illi
n
g
m
ac
h
in
e
was
cr
ea
ted
to
s
tr
ik
e
a
h
ar
m
o
n
io
u
s
b
alan
c
e
b
etwe
en
ec
o
n
o
m
ic
e
f
f
icien
cy
a
n
d
s
tr
u
c
tu
r
al
in
teg
r
ity
.
T
h
e
d
esig
n
iter
atio
n
s
an
d
p
r
ec
is
e
s
im
u
latio
n
s
h
av
e
tr
a
n
s
f
o
r
m
e
d
th
is
g
o
al
in
to
a
cu
ttin
g
-
ed
g
e
m
ac
h
in
e
th
at
co
n
n
ec
ts
with
c
o
n
tem
p
o
r
ar
y
i
n
d
u
s
tr
ial
d
em
a
n
d
s
.
T
h
e
d
e
v
elo
p
e
d
m
ac
h
in
e
is
p
o
s
itio
n
ed
to
m
a
k
e
a
r
ea
l
im
p
ac
t
ac
r
o
s
s
v
ar
ie
d
in
d
u
s
tr
ies,
r
an
g
i
n
g
f
r
o
m
r
a
p
id
p
r
o
t
o
ty
p
in
g
to
p
r
ec
is
io
n
m
a
n
u
f
ac
tu
r
in
g
.
Ou
r
jo
u
r
n
ey
d
o
es
n
o
t
f
in
is
h
h
er
e;
it
p
r
o
v
id
es
th
e
f
r
am
ew
o
r
k
f
o
r
co
n
tin
u
al
ad
v
an
ce
m
e
n
ts
,
co
n
tin
u
o
u
s
r
ef
i
n
em
en
t,
an
d
an
u
n
wav
er
in
g
p
u
r
s
u
it
o
f
ex
ce
llen
ce
as
we
co
n
tin
u
e
to
s
tr
etch
th
e
b
o
u
n
d
ar
ies
o
f
o
u
r
d
esig
n
’
s
p
o
ten
tial.
T
h
e
m
ac
h
in
e
h
as
d
em
o
n
s
tr
ated
h
ig
h
p
er
f
o
r
m
an
ce
c
u
ttin
g
o
n
wo
o
d
an
d
p
last
ic
m
ater
ials
.
C
o
n
ti
n
u
o
u
s
i
m
p
r
o
v
e
m
e
n
t
is
an
in
tr
i
n
s
i
c
as
p
ec
t
o
f
t
h
e
d
esig
n
p
r
o
c
ess
,
as
n
o
d
esi
g
n
is
d
e
v
o
i
d
o
f
im
p
e
r
f
ec
t
io
n
s
.
C
o
n
s
e
q
u
e
n
t
ly
,
a
c
o
n
s
is
te
n
t
cy
cle
o
f
c
r
e
ati
v
e
d
esi
g
n
it
er
ati
o
n
s
b
ec
o
m
es
i
m
p
er
ati
v
e.
T
h
er
e
is
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
E
va
lu
a
tin
g
th
e
d
ev
el
o
p
men
t a
n
d
cu
ttin
g
ca
p
a
city
o
f a
o
n
e
-
s
q
u
a
r
e
co
mp
u
ter
…
(
Olu
w
a
s
eu
n
K
a
yo
d
e
A
ja
yi
)
459
h
o
we
v
e
r
,
r
o
o
m
f
o
r
i
m
p
r
o
v
em
e
n
t i
n
t
h
e
d
esi
g
n
a
n
d
d
e
v
el
o
p
m
en
t
o
f
t
h
e
3
-
a
x
is
m
i
lli
n
g
m
ac
h
i
n
e
.
F
u
t
u
r
e
w
o
r
k
s
to
en
h
a
n
ce
t
h
e
C
NC
m
illi
n
g
m
a
ch
i
n
e
’
s
p
e
r
f
o
r
m
a
n
c
e
a
n
d
v
e
r
s
atili
ty
in
cl
u
d
e
i
n
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