Research Of The Gems Cutting Robot

The social progress and the constantly improving standard of People's living will greatly contribute to people's demand for jewelry. The situation of the large production of the jewelry and the scarcity of the technical personnel for jewelry cutting has set higher requirement for the automation of gem process, which has enhanced studies on the development of the robot for gem process. This thesis aims to use the technical knowledge concerning about the robot to study the robot institutions, processing algorithms of various cut-types and the design of robot control system, based on the technological requirements for gem process.The whole study is based on the consideration of improving the degree of automation, the efficiency and accuracy of production and reducing the labor force. In this thesis, the author analyzed the structure and the principle of the present gems cutting equipments; put forward the general structure of the gems cutting robot based on the idea of the modulation; designed all the function modules and provided the performance index of some related modules after a series of mathematical deduction. Besides, a finite element analysis on the major structure of the robot has also been conducted to testify that the strength and stiffness of the designed robot in this thesis can meet the accuracy requirement of the gems processing.Based on the structure of the robot, kinematics analysis model of the robot has been established by using the calculation method of the transformation matrix and kinematics model solution has also been given, based on which the machining algorithms for common surfaces, such as flat surface, cylindrical surface, spherical surface, revolving ellipsoid, and ellipsoid. Besides, the machining algorithms for two-dimensional convex surface and three-dimensional free-form convex surface which can be handled by the robot has been deduced as well. These machining algorithms lay foundations for improving the working ability of the robot for the gem surface process in future. In addition, the trajectory planning of the common shape of cut has been conducted and the path of the faceted cut, the trajectory generation of the convex surface have also been determined. The calculation formula of the length of the cutting step and the path interval has also been given.Considering the computer aided design of gems as well as the requirements for the robot control system. The control system using PC in the above to monitor and PCI motion controller to conduct the real-time control is adopted and the hard-ware platform for control system has also been set up. At last, the general structure of the software has been given which includes four components, i.e. parameters setup, file management, operation control and status display using VC++ to develop the system software. The whole development is based on the idea of modularization. However, in the manual control section, the special machine design idea that manual control and automatic control containing each other, is applied to meet the requirements of special cutting in gem process.The experimental platform for study of the robot is set up, based on which, the experiments of grinding and polishing upon some typical surfaces such as cylindrical surface,16°facet, as well as the 57 facet round diamond has been conducted and the results testified that the developed robot for gem cutting is of great practicality and reliability and the gems cutting robot developed is practical and reliable and the algorithm is also correct.