A novel algorithm of normal attitude regulation for the designed end-effector of a flexible drilling robotEnglish Full Text
Zhang Laixi Wang Xingsong (School of Mechanical Engineering,Southeast University,Nanjing 211189,China)
Abstract: An end-effector for a flexible drilling robot is designed,and a novel four-point algorithm of normal attitude regulation for this end-effector is presented.Four non-coplanar points can define a unique sphere tangent to them in spatial geometry,and the center point of the sphere and the radius can be calculated.The shape of a workpiece surface in the machining area is approximately regarded as such a sphere.A vector from the machining point to the center point is thus approximately regarded as a ... More
Keywords:
four-point position regulation; end-effector; flexible drilling robot; drilling machining on curved surface;
- Series:
(C) Architecture/ Energy/ Traffic/ Electromechanics, etc; (I) Electronic Technology & Information Science
- Subject:
Automation Technology
- Classification Code:
TP242
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