Robot 3D sculpturing based on extracted NURBS

Robots have shown a lot of advantages for the machining of complex 3D flank surfaces and curves due to its simultaneous 6-DOF technology by which the pose of tools or pieces could be regulated dynamically. In this paper, a novel robot sculpturing planning approach is presented for the 3D sculpturing with CAD-geometry data. It focuses on the approach of the automatic trajectory generation from the 3D CAD models of freeform surfaces to the machining path by the linear interpolation. Based on the multi-layer method, iso-parameter machining method and the adaptive NURBS interpolating algorithm are employed for the rough and finish machining correspondingly. It is the compact integration of CAD and CAM which makes highly convenient process of curves and surfaces. Finally the experimental results show the feasibility of the proposed system.