103 工作機械システムの機構・形状統合モデルと統一的逆運動学計算手法の提案 : ロボットを含む工作機械システムの運動シミュレーションと干渉チェック機能(OS1-1 デジタル設計・製造支援I)

概要

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In machining process, especially multi-axis NC machining with robots, it is necessary to simulate the motion for confirmation of NC data, robot motion data, and collisions of their systems. In such case, there are two problems; 1) There is no common integrated model of kinematics and shapes for machine tools and robots. 2) It is difficult to calculate inverse kinematics with machine tool system with robot system. To solve these problems, an integrated model of kinematic model and shape model for machine tool system with robot system based on STEP (ISO10303) was proposed. However, it is difficult to calculate inverse kinematics for machine tool system with robot system. In this study, a unified solving method which can calculate inverse kinematics for machine tools and robots is proposed. Collision detection using OPCODE is also proposed. To demonstrate the effectivity of proposed method, a motion simulation system with collision detection is developed.
一般社団法人日本機械学会の論文
2011-03-16