Blocking Structures Design And Cutting Simulation On Machining Robot Based On VR

The history of research and development about the numerical control (NC) machine tool and industry robots has been for over 50 years. Although many achievements have been made and new types of NC machine tool as well as equipments are developed increasingly, some problems still remain unsolved. The problems unsolved are pointed out by analyzing the situation of the machining equipment using in mechanical industry. In the dissertation, a new type of machining robot based on serials mechanism is studied systematically, and the technique of virtual reality is applied to the simulation of the work of the machining robots. The main research in this dissertation is as bellows:1 On the base of analyzing the reasons of conventional articulate robots having poor stiffness and low kinetic accuracy, a new serial machining robot is designed successfully, which use blocking design method, and five types of fundamental functional modules are also developed. With using modules, different kinds of machining robot can be assembled rapidly according to the demands of the objects to be machined. Main modules are designed in details. Therefore, not only is the flexibility of this machining robot the same as that of robot, but also its stiffness is as high as that of machine tools. It can satisfy especially the demand for machining and measuring the three-dimensional free surface. Based on the coordinate alternation theory, the incidence matrix processing method for the machining robot is described. The machining methods for common surfaces are given.2 As a new development in information technology virtual reality (VR) has been studied in many applied fields at present. The paper established the model of the robot by Pro/E and VRML (virtual reality modeling language), And by programming with JavaScript, a working simulation is carried on .The simulation results indicate that the machining robot developed is reliable and that the incidence matrix processing method and every machining algorithm is correct, which sets up a firm foundation for control and further development.