关键词: 钻头, 磨, 机器人臂, 运动学

Abstract: The kinematic svnthesis of a six degree-offreedom robot manipulator is analyzedand the methodology is employed for grinding of drill flanks.The method synthesizes the mecha-nism to obtain the necessary motion of drill grinding process,so that the grinding manipulator is mechanically simple and flexible,and the adjustment and setup of the parameters are very easy.Kinematic equations of the manipulator are established and the orientation and position matrix of the drill point is developed.In a prototype grinding machine several drills are ground successfully to provide initial confirmation of the theory.

Key words: drill bits, grinding, kinematics, robot arms