Studies Of Cutting Special-Shaped Surfaces With Two-arm Robot

Using two-arm robot on special-shaped surface working is a renovation of mechanic cutting technique. It can curve all kinds of closed surface including prism and revolving solid. It can meet the requirement of keeping being perpendicular with the unshaped surface whenever works. Rigidity and accuracy are the two facing problems to the robot system when it cuts hard materials. In this paper ,my studies are listed as following. 1. Kinematic analysis : By Denavit-Hartenberg method, space geometry relationship of each pole relative to fixed reference frame can be described with equal index transform, also do space relationship of two adjacent poles with 4x4 equal index . So equivalent equal index transform matrix can be deduced from them. When sportive equations and sportive coordinate frame of workpiece exercise point are set up ,the coordinate values of exercise point can be got ,the pose and situation of two manipulators are analysed ,in the end each joint valiable and its velocity , acceleration are worked out.2.Dynamics analysis:By setting up jacon matrix differential coefficient sport is passed to Descartes space .It makes terminal executing manipulator produce differential coefficient of acceleration and force in every different coordinates can be got .Then the effective inertia,coincident inertia and gravity load of two manipulators are calculated by Lagrange method .So generalized joint torque of each joint is got ,and along with equivalent driving torque ,actual driving torque of each joint can be worked out.3. Computer calculation : Taking ellipse as an example and taking MATLAB as an empolder environment, the maximal driving force (torque) and each joint variable , variable's accelerations, coordinate values of exercise point in workpiece coordinate frame and the distance of this point from base coordinate frame can all be calculated.Finally each joint variable in finishing work are calculated.