凸輪設計真的是機械人的雷區嗎

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發表于 2017-1-3 15:01:47 | 只看該作者

圓柱面擺臂凸輪的CNC代碼，注意Y軸數據。
X6.2000 Y-0.7383 A+0.0 Z24.6000
X6.2006 Y-0.7382 A+1.0 Z24.5993
X6.2025 Y-0.7378 A+2.0 Z24.5986
X6.2057 Y-0.7370 A+3.0 Z24.5979
X6.2101 Y-0.7360 A+4.0 Z24.5972
X6.2158 Y-0.7347 A+5.0 Z24.5965
X6.2228 Y-0.7331 A+6.0 Z24.5958
X6.2310 Y-0.7312 A+7.0 Z24.5951
X6.2405 Y-0.7291 A+8.0 Z24.5944
X6.2512 Y-0.7266 A+9.0 Z24.5937
X6.2632 Y-0.7238 A+10.0 Z24.5930
X6.2765 Y-0.7208 A+11.0 Z24.5923
X6.2911 Y-0.7174 A+12.0 Z24.5916
X6.3069 Y-0.7138 A+13.0 Z24.5909
X6.3239 Y-0.7099 A+14.0 Z24.5902
X6.3423 Y-0.7056 A+15.0 Z24.5895
X6.3619 Y-0.7011 A+16.0 Z24.5888
X6.3827 Y-0.6963 A+17.0 Z24.5881
X6.4048 Y-0.6911 A+18.0 Z24.5874
X6.4282 Y-0.6857 A+19.0 Z24.5867
X6.4529 Y-0.6799 A+20.0 Z24.5860
X6.4788 Y-0.6739 A+21.0 Z24.5853
X6.5059 Y-0.6675 A+22.0 Z24.5846
X6.5344 Y-0.6609 A+23.0 Z24.5839
X6.5640 Y-0.6539 A+24.0 Z24.5832
X6.5950 Y-0.6466 A+25.0 Z24.5825
X6.6272 Y-0.6390 A+26.0 Z24.5818
X6.6607 Y-0.6311 A+27.0 Z24.5811
X6.6954 Y-0.6228 A+28.0 Z24.5804
X6.7313 Y-0.6143 A+29.0 Z24.5797
X6.7686 Y-0.6054 A+30.0 Z24.5790
X6.8071 Y-0.5962 A+31.0 Z24.5783
X6.8468 Y-0.5866 A+32.0 Z24.5776
X6.8878 Y-0.5768 A+33.0 Z24.5769
X6.9301 Y-0.5666 A+34.0 Z24.5762
X6.9736 Y-0.5560 A+35.0 Z24.5755
X7.0183 Y-0.5451 A+36.0 Z24.5748
X7.0643 Y-0.5339 A+37.0 Z24.5741
X7.1116 Y-0.5223 A+38.0 Z24.5734
X7.1601 Y-0.5104 A+39.0 Z24.5727
X7.2099 Y-0.4981 A+40.0 Z24.5720
X7.2609 Y-0.4855 A+41.0 Z24.5713
X7.3132 Y-0.4725 A+42.0 Z24.5706
X7.3667 Y-0.4592 A+43.0 Z24.5699
X7.4214 Y-0.4454 A+44.0 Z24.5692
X7.4774 Y-0.4314 A+45.0 Z24.5685
X7.5347 Y-0.4169 A+46.0 Z24.5678
X7.5931 Y-0.4021 A+47.0 Z24.5671
X7.6529 Y-0.3868 A+48.0 Z24.5664
X7.7138 Y-0.3712 A+49.0 Z24.5657
X7.7761 Y-0.3552 A+50.0 Z24.5650
X7.8395 Y-0.3389 A+51.0 Z24.5643
X7.9042 Y-0.3221 A+52.0 Z24.5636
X7.9701 Y-0.3049 A+53.0 Z24.5629
X8.0373 Y-0.2873 A+54.0 Z24.5622
X8.1057 Y-0.2693 A+55.0 Z24.5615
X8.1753 Y-0.2509 A+56.0 Z24.5608
X8.2461 Y-0.2321 A+57.0 Z24.5601
X8.3182 Y-0.2128 A+58.0 Z24.5594
X8.3915 Y-0.1932 A+59.0 Z24.5587
X8.4661 Y-0.1730 A+60.0 Z24.5580