Development of Approach to Automatic Machining of Composite Parts without their Rigid Fixing by Means of Multilink Manipulators

This paper presents the new advanced approach for automatization of machining of nonrigid composites parts that have arbitrary geometrical form. This approach is based on using multilink manipulators with stereo vision system and allows not using the expensive individual equipment for parts rigid fixing before processing. This is achieved by special intelligent formation and correction of program's motions of manipulator cutting tool in real time using information about current position of processed parts from vision system.The results of performed simulations have completely confirmed the working capacity and high quality of the proposed approach.