Method And Experiment Of Robot Processing Large Double-sided Thin-wall Sculpture

In the past 40 years of reform and opening up,China’s economy and society have developed rapidly,and the urbanization process has accelerated.The demand for urban sculpture is huge and increasing.However,the traditional sculpture design and production method is complex and limited,and can not meet the needs of design and production of modern urban sculpture,and it will be gradually replaced by digital design and production methods.With its multi-axis flexibility,versatility and large working space,the robot has unique advantages in digital sculpture production.The robot is usually used in integrated robotic engraving equipment to process the sculpture.However,it is still necessary to solve the problems of robot processing t:rajectory generation,trajectory optimization,error control and sculpture model processing,to process large double-sided thin-walled sculptures.To solve the problem of trajectory misalignment during multi-side machining,the mapping relationship between processing equipment in CAM space and working space is analyzed in this paper,and establishes methods of two spatial mapping consistency and trajectory registration to reduce the trajectory misalignment deviation.Aiming at the calibration problem of robot geometric parameter error,the single-axis rotation method is used to realize the decoupling calibration of the robot geometry parameters and zero position in this paper.The laser tracker is used to obtain the position information of the robot end-point when the axes of the robot are rotated independently.The axes of each axis are obtained by double circle fitting,and the actual robot model is established.Finally,the geometric parameters and zero parameters of the actual robot are solved by D-H method.According to the characteristics of large-scale double-sided thin-wall sculpture,the principle of sculpture model segmentation is given in this paper,the model segmentation method is discussed,and it is realized to process the large-scale sculpture component.The rigidity of the double-sided thin-wall sculpture is poor,and the sculpture can not be processed using existing method.To solve the problem,the maximum contour trajectory optimization method is used to optimize the robot processing trajectory,so that the double-sided thin-wall sculpture is connected with the unprocessed blank during processing,and the rigidity of the processed sculpture component is improved.Finally,the effectiveness of the mapping consistency establishment method and the maximum contour trajectory optimization method is verified by using the calibrated robot processing equipment to process the sculpture components.Through the splicing of sculpture components,the feasibility of robot processing large double-sided thin-wall sculptures is verified,which has a good application prospect in urban sculpture production.