Integrated robotic measurement and machining technology for large castings

摘要

In the past, for large castings, manual or large special equipment are need to complete the measurement and machining. With the advantages of high flexibility and large workspace, industrial robots provide a promising alternative. In this work, the rear axle housing machining is taken as an example. Firstly, the blank model is obtained by multi-angle point cloud scanning and fusion based on FPFH method. Then, after aligning the coordinate system, the height of the residual material is calculated. To ensure that the robot can process a complete workpiece with high stiffness, machining region division is carried out, and the robot posture and workpiece’s orientation are optimized. Finally, the process of integrated robotic measurement and machining is verified by simulation and experiment, and the machining results are analyzed.