关键词: G代码, 机器人建模, 正向运动学, 逆向运动学, 机器人工作空间

Abstract:

The G-code was used for reconfigurable robot multi-axis machining systems for machining complex parts with freeform surfaces of light materials with lower tolerance. A five-axis vertical articulated robot for complex surface machining was considered as a specific configuration of the five-axis vertical milling machine (X, Y, Z, A, B) spindle-tilting type to have developed the prototype of robotic control system. This paper described the robot modeling approach in detail, involved solving of direct and inverse kinematics and analysis of the robot workspace for the cases of three-axis and five-axis machining. The programming, control and processing capacity of the prototype of developed robotic machining system was verified by the machining experiments of three work pieces of light materials.

Key words: G-code, robot modeling, direct kinematics, inverse kinematics, robot workspace