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Proceedings of CAD'15, 2015, 481-486
Simulation of a Robot Machining System Based on Heterogeneous-Resolution Representation

Yonghua Chen, Ying Wei, The University of Hong Kong

Abstract. Collision avoidance is a frequently encountered problem in machining processes, especially in robot-based machining. In a robot machining system, collision may occur between the robot arm, the tool, tool holder and the work piece together with its fixtures. Therefore, a precise collision detection algorithm is critical to ensure that the tool path is collision free, particularly in the area where the tool has contact with the work piece. To verify tool paths, a simulation system is developed. In the proposed system, the robotic system is modeled as a Constructive Solid Geometry (CSG) tree where the Denavit-Hartenberg (D-H) notation is applied to represent the robot arm transformation matrix. A proposed heterogeneous-resolution method is used to represent the work piece in which the area of the work piece near the current machining contact point is represented by triangular facets at a controlled accuracy whereas other parts of the work piece are described by Grid Height Array (GHA). This will save computation time in simulation. The proposed method is implemented to test the feasibility and effectiveness of the algorithm. In modern industries, robotic arms have been widely used not only in their traditional applications areas such as pick and place, welding, etc., but also used in large part machining and grinding[5]. In any robotic applications, path planning and simulation is very important as it determines if an expected task can be done satisfactorily and safely or not. A major part of robotic simulation is the detection and avoidance of collision.

Keywords. Robot machining, Path planning, Collision detection, Heterogeneous representation

DOI: 10.14733/cadconfP.2015.481-486