The method of cutting of flexible parts using manipulators and information multiplexing from 3D vision system and CAD model

This paper presents new method of cutting of flexible parts with arbitrary geometrical form. Proposed method is based on four principles: 1) simple and rapid fixation of any flexible parts with the help of universal devices with possible deformation of its geometric forms; 2) scanning of the deformed parts by means of 3D vision system; 3) multiplexing of priori known CAD model of parts with the model, received by scanning; 4) automatic generation of new motion trajectory of manipulator´s working tool. For realization of this method an algorithm of multiplexing of two models and transferring of cutting path from the CAD model to deformed model is developed. Conducted mathematical simulation showed that proposed algorithm provides the accurate path planning of manipulator´s working tool at deformation of parts and hence to provide the quality cutting.