Calculation of the controlled parameters of the 6-coordinate robot in the process of additive forming of products

The article is devoted to the investigation of the surface layer formation accuracy of engineering products by additive methods. The analysis of advantages and disadvantages of layered products synthesis technologies was carried out. It was revealed that, in additive shaping, the exact characteristics of the surface layer differ significantly from the accuracy characteristics of the surface layer of products obtained by the traditional methods. The analysis of domestic and foreign works on the topic of research was carried out. It is revealed that to increase the accuracy characteristics of products obtained by additive methods, it is necessary to realize dynamically the spatial orientation of the working element of the additive installation in the process of shaping. To control the spatial orientation of the working organ of additive equipment, a method is proposed. According to the proposed method, the controlled parameters of the additive installation are calculated on the basis of a 6-coordinate robot. The proposed methodology will allow to calculate the controlled parameters of the process equipment, to provide the required orientation of the working element of the additive installation to reduce the error of shaping (approximation), using 6-axis positioning mechanisms.