AUTOMATION OF A CENTRE LATHE WORK BY AN INDUSTRIAL ROBOT

摘要

This research proposes a method to operate centre lathe by robots having 7 degree of freedom and finger. Operation of lathe requires much skill. In the operation of lathe, direction and velocity of turning elements are controlled. Lathe has plural elements for the control of turning elements, such as handles, levers and switches. So, first, a motion is analyzed how to move these elements, and represented by geometrical models that explain the relation between path of a hand to rotate handles and feed rate of turning elements. Second, a simple notation is proposed to transform geometrical models into a robot language accurately. This notation shows position of a robot hand to grasp handles, path of a robot arm and precedence relation for moving handles. By using the proposed method, turning operation is actually acted by a robot.