| 摘要 |
PURPOSE:To enable a robot whose control speed is slow compared with the machining speed of a tool to be used in boring small circular and deformed holes by causing a locus interpolation device to control a rotating shaft and an operating shaft independently of the action of a robot arm, thus moving the tool along circular and deformed loci. CONSTITUTION:A locus interpolation device 5 is mounted at the end of the arm 7b of a multidegree-of-freedom end robot 6 having a number of arms 7a, 7b, and is operated in this mounted state to grip a tool 8 and to allow a variety of motions of the tool 8. After the tool is positioned by the robot 6, the motions are achieved independently of the robot 6, so that the tool 8 is operated for machining e.g. a small hole 10 of a predetermined diameter in a predetermined position without touching a workpiece 9. In this case, when the workpiece 9 is a three-dimensional molding, the mechanism of the multidegree-of-freedom robot 6 needs five degree of freedom and the locus interpolation device 5 needs two degrees of freedom for circular motion mechanism and for a radius setting mechanism, and seven degrees of freedom are needed for the whole system. |
