Design and Development of a Numerical Control System for a Hybrid Machining Robot

Numerical control (NC) system is the core functional module of 5-axis machining devices. The paper presents a dispersing NC system for a novel hybrid machining robot. For this purpose., three issues are clarified., i.e. the architecture., the control strategy and the software of NC system. Firstly., by adopting a multi-axis motion control unit (MCU)., the architecture of a dispersing NC system is designed. Secondly., a control strategy is presented based on tool-path smooth algorithms., kinematics model and kinematic calibration method. By embedding above control strategy., a post-processing software and a human-machine interaction (HMI) software are developed. Finally., a NC system is developed to construct a hybrid machining robot system. A set of kinematic accuracy tests and machining tests are carried out to verify the feasibility of the developed NC system.