Research On The Soft Materials 3D Cutting Robot System

Mechanical cutting is an important content of soft materials processing technology. At present, planar mechanical cutting technology has been unable to meet the demand of the three-dimensional cutting. To this end, this paper aims to study the method through the application of robot technology, which is used to solve the 3D cutting problem.Based on the existing research robot 3D cutting technology and soft material plane cutting method, the study started on the basis of Staubli TX90 robot, and the modeling and simulation analysis was carried out on the robot.First, types and functions of the cutting tool were studied, and the type of soft material it can cut was analyzed. On this basis, the mechanical system of 3D cutting robot for soft material was designed, including a tool clamping device and an object holding device. The tool clamping device can make automatic replacement of tools and the object holding device can make the robot to put up and down of the workpiece.Second, the 3D cutting robot kinematics was analyzed, and the kinematics model had been built and solved. Then, the force situation of tool in the process of cutting had been studied, this paper put forward a calculation method on the force of tool on cutting soft materials when the blade was tilted. The simulation results are analyzed.Third, the trajectory planning of robot had been studied. The paper studies the parabolic transition linear interpolation method in the application of linear planning space, and a simulation analysis was carried out. The circular arc method, and the five polynomial of trajectory planning on joint space was studiedFinally, the simulation verification was made to analyze the robot system on soft material cutting.