CAJ | 학술논문

将数控机床的通用编程语言 G 代码应用于加工轻质材料、低公差自由曲面复杂零件的可重构机器人多轴加工系统,并将复杂曲面加工的五轴立式关节机器人视为倾斜五轴(X,Y,Z,A,B)立式铣床的特殊配置,开发出了机器人的控制系统原型。阐述了机器人的建模方法,包括运动学问题的正向解和逆向解的求解方法；分析了机器人三轴、五轴加工时的工作空间；通过三个轻质材料试件的加工试验,验证了实验机器人加工控制系统原型的编程、控制和加工能力。
장수공궤상적통용편정어언 G 대마응용우가공경질재료、저공차자유곡면복잡령건적가중구궤기인다축가공계통,병장복잡곡면가공적오축입식관절궤기인시위경사오축(X,Y,Z,A,B)입식선상적특수배치,개발출료궤기인적공제계통원형。천술료궤기인적건모방법,포괄운동학문제적정향해화역향해적구해방법；분석료궤기인삼축、오축가공시적공작공간；통과삼개경질재료시건적가공시험,험증료실험궤기인가공공제계통원형적편정、공제화가공능력。
The G-code was used for reconfigurable robot multi-axis machining systems for machi-ning 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 ro-botic machining system was verified by the machining experiments of three work pieces of light mate-rials.