弯曲木加工机器人进给量数控编程的数学方法

采用高次方程回归法进行压缩弯曲木平面中心曲线的数学模拟，研究在木材加工中心系统上进行数控编程的数学方法，设计各个机械手的轨迹，约束和布置方案，利用弯曲木中心曲线坐标变换理论解实现数控加工和简化机构，为平面弯曲木加工机器人软件设计提供基础理论和程序编制方法。在尽量减少机器人自由度的前提下完成轨迹程序加工，使弯曲木加工实现数控化。

Mathematic Way of Numerical Control Programming for Feed of Flexural Wood Bending Robot

The paper simulated the center curve of constringent flexural wood planar mathematically by using regression equation of high degree. It also researched mathematic way of numerical control programming to be carried out on wood bending center system, designed the trace, restraint of each manipulotor and gave instruction about programming. The numerical control bending and mechanism simplification were realized by theoretical solution of coordinate transformation for the center curve of constringent flexural wood planar. It provids basic theory for designing software and programming for planar flexural wood robot and performs trace program bending to reduce the degree of freedom of robot to the greatest extent.