机器人用于艺术雕刻的研究

本文根据传统的直角坐标数控雕刻机的缺陷，结合工业机器人的运动学特性，研制了一种五自由度关节式雕刻机器人。详细叙述了其机械结构和控制系统的设计，运用D-H法分析了机构运动。这种五自由度雕刻机器人能加工出通常的直角坐标数控雕刻机难以完成的复杂型面，灵活性高，而且定位机构的尺寸相对要小得多，制造成本较低。

Research on the Application of Robot to Carving Making

By analyzing the disadvantage of the traditional NC engraving machine based on orthogonal coordinates and the kinematics characteristic of industry robot, a robot with five knuckle arms is designed. The machine structure and control system of this robot are discussed in detail, and the study of robot motion is made by D-H method. This robot could engrave complex profile which is difficult for the traditional NC engraving machine to do it. Comparing with traditional three dimension engraving machine, it has much smaller location dimension, and has superiority in flexibility and cost.