CAJ | 학술논문

为扩展空间复杂曲面零件的加工方法，实现复杂曲面零件的高效、绿色加工，提出了利用串联机器人手臂代替线切割机床工作台以及其他附属多轴联动设备构建多轴联动线切割加工机器人的方法。建立了多轴联动串联型线切割机器人的数学模型。借助ADAMS平台建立了复杂曲面线切割机器人的虚拟样机，进行了逆运动学分析与优化，验证了机器人机械结构的合理性，为多轴联动线切割机器人的快速设计与制造提供了理论依据。
위확전공간복잡곡면령건적가공방법，실현복잡곡면령건적고효、록색가공，제출료이용천련궤기인수비대체선절할궤상공작태이급기타부속다축련동설비구건다축련동선절할가공궤기인적방법。건립료다축련동천련형선절할궤기인적수학모형。차조ADAMS평태건립료복잡곡면선절할궤기인적허의양궤，진행료역운동학분석여우화，험증료궤기인궤계결구적합이성，위다축련동선절할궤기인적쾌속설계여제조제공료이론의거。
In order to expand the processing methods of space complex surface parts and realize high effi -ciency, green machining , a method of building multi -axis linkage wire-cutting processing robot was put for-ward using serial robot arm to replace the linear cutting machine table and other ancillary multi -axis linkage e-quipments .A mathematical model of the multi -axis linkage series wire -cutting robot was built .The virtual prototype of the complex surface wire -cutting robot was established based on ADAMS , and the inverse kinemat-ics analysis and optimization were carried out .The rationality of the robot mechanical structure has been verified , which can provide a theoretical basis for the rapid design and manufacturing of a multi -axis linkage wire -cut-ting robot.