Setting of robot virtual TCP and application in machining
                                             XU Kai huai1, GUO Yi wei1, Guan Xiao dong1, PANG Bang1, XI Wen ming1*
                                              (School of Aerospace Engineering, Xiamen University, Xiamen 361005, China)

Abstract: Aiming at the problem that the contours generated on the workpiece grasped at end of a robot cannot be used for deburring, having studied the deburring machining of the workpiece grasped at the robot end under the condition of tool fixation, the method was proposed, that after the relationship between the workpiece contour and the fixed position of TCP was confirmed, a point of the tool fixed in the workspace of the robot is set as a virtual TCP, based on which the machining contour points attached to the robot end workpiece were mapped into the virtual locus in the robot workspace. Based on the mapping between locus and the virtual locus on the workpiece and the completion of the virtual TCP and the TCP set at the robot end, RoboGuide, Fanuc robot simulation software, was used to validate the method, its processing, and tool feed measurement. The result indicates that method of deburring the workpiece grasped at the robot end fully meets the precision requirements of production and processing.

Key words: tool center point（TCP）; virtual TCP; virtual locus; deburring processing