A new approach to automatization of non-rigid parts machining at their deformation by using multilink manipulators with vision system

In this paper, the new approach to automatization of non-rigid parts machining at their deformation is proposed and analyzed. This approach bases on application of multilink manipulators with vision system and allows not using the expensive individual equipment for exact fixing of parts before machining. Two different algorithms of intelligent path planning of manipulator's working tool based on vision system were developed. The choice of these algorithms depends on value of deformation of parts. The results of performed simulations have completely confirmed the working capacity and high quality of the proposed approach.