Path planning of robot off-line programming for profiled bar cutting

The profiled bar is widely applied in shipbuilding industry.In order to perform cutting and lining automatically for profiled bar,the robot off-line programming technology was studied.The robot off-line programming software system for profiled bar cutting was developed for automatic cutting.The path planning of cutting off-line program for profiled bar was investigated.The path offset algorithm and path intersection algorithm of feature modeling were developed for bar bevel cutting respectively,and the experiments about flat bar and angle bar automatic cutting were performed.The results demonstrated that the path planning algorithm could perform the bevel cutting and edge cutting,and the error of bevel angle was less than 1°.The process of cutting was smooth,which could satisfy the profiled bar cutting in practice.