基于MotoMan机器人的快速原型制造

工业机器人系统在零件快速原型制造方面有很好的发展前景。笔者运用三维激光扫描仪对物体进行扫描,得到物体表面数据,对物体进行三维重建,并进行了加工工艺和路径的规划,提出了无干涉的三角划分路径规划和Z字型路径规划,对机器人建立了运动学方程,给出了坐标变换矩阵。最后对机器人进行了程序编制,实现快速原型制造。

Rapid Prototype Manufacturing Based on MotoMan Robot

Because the industrial robot system has larger free degree and work space,it can be used to machining the parts with complicated shape and large size,the range of its application is very wide,so it has a bright future in the rapid prototype manufacturing of part.The data of the object surface is gained and the three dimension of the object is rebuilt by scanning the object with the three dimension laser scanner.The process planning and path planning are done.The interference-free of triangulation plotting up path planning and the zigzag path planning are presented. The coordinate transform matrix is given by building the kinematical equation of the MotoMan robot. Finally, the robot program is given and the rapid prototype manufacturing with the MotoMan robot is achieved.