CAJ | 학술논문

　　文章通过分析传统切削机器人，针对它们所存在的问题和不足，在分析现有工业机器人刚性差、精度低的基础上，设计出一种新型的切削加工机器人。采用模块化的设计技术，设计了五种基本功能模块，根据加工对象的要求可快速地组合成多种不同的结构型式。研究该切削加工机器人的运动功能分析，使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。
　　문장통과분석전통절삭궤기인，침대타문소존재적문제화불족，재분석현유공업궤기인강성차、정도저적기출상，설계출일충신형적절삭가공궤기인。채용모괴화적설계기술，설계료오충기본공능모괴，근거가공대상적요구가쾌속지조합성다충불동적결구형식。연구해절삭가공궤기인적운동공능분석，사절삭가공궤기인불부구유궤기인일양령활적유성，이차구유금속절삭궤상일양적강성，특별괄합우공간자유곡면적가공여측량등。
Because of the existing industrial robots often has performances of poor rigidity and low accuracy,we have designed a new type of cutting robots. The design use modular design techniques and we designed five basic functional modules, according to the processing requirements of the object, five basic functional modules can be quickly combined into various different structural types.It is necessary to study motor function of it,in order to have flexibility as robot and have the same rigidity as metal cutting machine, it is particularly suitable for processing and measurement for space free surface.