Abstract
With people’s higher and higher requirements for environmental art, a large number of stone carving products are needed in the current urban construction. However, the traditional carving technology and equipment can not meet this demand. The development of robots to complete the processing of stone products, especially for the processing of special-shaped stones with complex shapes such as three-dimensional, multi-faceted and curved surfaces, has great social and economic benefits. In this paper, a stone carving manipulator is designed. In the processing of special-shaped curved stone, the structure of 3-TPS/TP hybrid manipulator is adopted, and its kinematic model and Jacobian matrix are established to realize the efficient automatic processing of special-shaped stone.
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