Automatic Path Planing of Six-axis Robot Arm Based CAD/CAM for 3D Manufacturing

• Main Authors: LIN, SHENG-YOU, 林聖祐
• Other Authors: CHANG, WEN-YANG
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/944d3g

碩士 === 國立虎尾科技大學 === 機械與電腦輔助工程系碩士班 === 106 === Nowadays, many factories use on-line teaching method to teach the moving position of the robot arm. On-line teaching is quickly program the machining path by manual visual observation. But this method is limited to simple machining path and is not suitable for complex machining path. Moreover, this method must also stop the the robot arm temporarily. In order to improve production efficiency, the off-line programming software can program complex paths for welding, transportation, polishing, laser, gluing and milling of the robot arms, and then simulate machining paths in software to detect collisions. In the postprocessor, the function library can be modified according to the user, which can be converted various the robot arm codes. In order to understand the principle of manipulator manipulator, the forward kinematics and inverse kinematics of the manipulator are discussed. In addition, the carving spindle is set up on the six-axis the robot arm, and then the manipulator and the carving spindle are imported into the SprutCAM off-line programming software. SprutCam is used to plan milling path and collision simulation, then the path file and start-up command are converted into the robot arm code by adding postprocessor. The the robot arm code is transmitted to the arm controller via FTP or USB to complete the path planning program and start cutting the workpiece. The experimental part is divided into three kinds of machining methods: plane milling geometry model, 3D milling geometry model and 3D milling surface model. It is hoped that the off-line compiler software will replace the manual teaching method, and reduce the error caused by the manual visual measurement accuracy and save the time of robot shutdown.