新型切削加工机器人常用表面加工方法研究

在分析了传统切削加工机器人刚性差、精度低的基础上，研制成功了一种新型切削加工机器人。该切削加工机器人不仅具有机器人一样灵活的柔性，而且具有金属切削机床一样的刚性，特别适合于空间自由曲面的加工与测量等。在坐标变换理论的基础上，提出了切削加工机器人关联矩阵加工理论。并且根据这一理论，给出端铣刀立铣加工平面的计算方法。通过ADAMS进行仿真，验证了所开发的切削加工机器人的可靠性以及关联矩阵加工理论的正确性，为控制和数控编程提供依据。

Study on common plane machining method of a new type of cutting robot

On base of analyzing that conventional cutting robots have poor stiffness and low kinetic accuracy, a new type of cutting robot is designed. Not only is the flexibility of this cutting robot the same as that of robot, but also its stiffness is as high as that machine tool. It can satisfy especially the demand for machining and measuring the three - dimeasional free surface. On base of the coordinate alternation theory, the relating matrix machining theory for the cutting robot is described. According to the theory, a plane machining method by end milling cutter is given. The imitation result by ADAMS indicates that the machining robot developed is reliable and that the machining theory of relation matrix is correct, which sets up a firm foundation for control and numerical control program.