Research On Prosthetic Socket Machining System Based On Industral Robot

As the most important part of a prosthesis,the manufacturing method of the prosthetic socket has been an important part of research in the field of artificial limbs in various countries.The traditional hand-crafting process is time-consuming and labor-intensive,and the quality of processing is greatly affected by human factors.Exploring the application of automated processing equipment to prosthetic sockets has become an improvement in prosthetic hand making techniques.In this paper,based on the prosthesis receiving cavity processing system based on industrial robots as the research object,the process route and key technology of using the robot to accept cavity positive mode processing are studied.The specific research work is as follows:First,the robot processing system was studied.Based on the KUKA KR210 industrial robot platform,a robotic milling processing system was established.The processing system includes KUKA robot body,KR C4 control system,machining spindle and frequency conversion control system,and the connection flange of the processing spindle and robot.The KR C4 control system communicates with the inverter controller via Profibus/Dp to control the machining spindle.On this basis,based on FreeCAD and MasterCAM software,a processing system simulation platform was established to simulate the robot's motion trajectory and process planning for off-line simulation.Secondly,a three-dimensional scanning measurement and modeling technique was applied to establish a digital model of the prosthetic cavity receiving male model.According to the characteristics of the cavity surface of the receiving cavity,the machining process planning is carried out in Matercam software.The workpieces,processing techniques,tool parameters,and machining parameters of the prosthetic socket positive mode are set to obtain the tool path(including the NCI and NC files of the tool)required for the prosthesis to accept the positive mode.The kinematics model of KUKA robot processing system was established by using D-H method in MATLAB,and the kinematics forward and inverse problems were analyzed.Mastercam's NC tool path NCI file is analyzed to extract the tool position and posture information.Through position transformation and pose coordinate transformation,it is converted into a pose file of a robot machining system tool,and then the robot's kinematics inverse solution is used to obtain the angle information of each axis of the robot.The Robotmaster software was used to verify the off-line programming files required to obtain the machining die.Finally,based on the calibration of the KUKA robot processing system,the experimental verification of the processing point was carried out.The 3D printer was used to print the positive model of the receiving cavity.The comparison of the printing time and operation steps with the robot engraving showed their advantages and disadvantages.