Research and development of robot arm applied to grinding path planning of metal parts

Abstract

Using the Open CASCADE source to develop a robotic arm simulation grinding path for the metal parts is the purpose of this research. Firstly, a metal parts CAD/CAM grinding script file is created and translated into a special format for driving the presented robot arm. Then the geometric dimensions of the robotic arm and the belt sander in the program are built. Secondly, the forward kinematics and inverse kinematics models of the robotic arm are imported. Finally, the simulation and testing of the metal parts grinding path by combining the above translation program are achieved. Compared with the traditional manual teaching and correction of robotic arm path planning, the grinding efficiency can be improved in this study.