Robot processing experiment of large doublesided thinwall sculpture
                                           GUO Guibin, XIE Jianyang, LIANG Zhipeng, FENG Liangyou, XI Wenming
                                               （School of Aerospace Engineering, Xiamen University, Xiamen 361002, China）

Abstract: Aiming at the problem that existing robots could not process largescale doublesided thinwalled sculptures, the registration model of CAM software space and processing space and the dislocation error of doublesided thinwalled sculpture components were studied. The trajectories generated by CAM were summarized, and a maximum contour method for trajectory optimization was designed, which enabled the robot to process only the blanks in the maximum contour of the sculpture component. The support of the sculpture component processed was established to avoid the cantilever structure of the sculpture component formed by roughing when the trajectory was not optimized, and the sculptural components were finished. The results indicate that after the registration of CAM space and processing space, the dislocation errors of different processing sides of the twosided thinwalled sculpture components are less than 0.7 mm. By using the trajectory optimization method, the unprocessed blank can form an effective support for the roughprocessed doublesided thinwalled component, so the doublesided thinwalled component can be completely processed.

Key words: robot processing; doublesided thinwalled sculpture; registration; maximum contour method; doublesided processing