Currently, manual inspection and off-line inspection play an important role in the inspection methods of machining process, which severely restricts the development of inspecting automation. In the paper, automatic programming system for machining center on-line inspection was developed by secondary development kit object ARX of AutoCAD. Inspecting datum was obtained, inspecting process planning was laid up and inspecting program was made automatically. The inspection can be applied to automatic workpiece setting up, on-line inspection of workpiece, data processing, quality analysis and compensation of machined workpiece errors, which led to increase precision, production efficiency and quality and reduced the rate of rejection and tool damage.

The Forward kinematic and the inverse kinematic were analyzed of 3-DOF cable-driven surgical instrument in this paper. Kinematics of open chain surgical instrument was derived by the product of exponentials formula, and Paden and Kahan subproblems. Kinematic analysis of the 3-DOF cable-driven surgical instrument can be analyzed by the map relationship between the end effectors and the joint angles of the surgical instrument after removal of cables and pulleys and the map relationship between the rotor angular displacement of the motor and joint angular displacement. The analysis method can be useful for motion analysis and control for cable-driven robotic mechanisms.

Dynamic model based on screw theory and Lagrange’s equations including dynamic of servo motor rotor of a 3-DOF cable-driven surgical instrument was established in this paper. Overall dynamic of the 3-DOF cable-driven surgical instrument was performed by dynamic model of the open-loop chain surgical instrument after removal of cables and pulley, the mapping relationship model between the joint space and cable space, and rotor dynamic modeling of servo motor, which is the basic of investigating the overall responses and prosperities of surgical instrument.

Machining center on-line inspecting technology is an effective means that can improve precision and efficiency of machining center, which effectively integrates machining and inspection, makes machining center with partly inspecting function of coordinate measuring machines and improves the degree of inspecting automation compared with manual inspection and off-line inspection. Machining center on-line inspection system based on workpiece has been successfully developed and applied in SSK-U6035 five-axis machining center for palm inspection and control. The application result shows that machining center on-line inspection system based on workpiece can realize integration of machining and inspection more efficiently, increase precision and production efficiency, and reduce the rate of rejection and tool damage. At the same time, the on-line inspection system increases the additional function of the machining center for the manufacturer of machining center, improves the automation degree of the inspection and provides a new inspecting approach for other specific type’s workpiece.

In modern manufacturing, it is urgent to require integrating manufacturing and inspection because manual inspection and off-line inspection severely restricts the development of inspecting automation. In the paper, automatic programming system based on solid driven technology for machining center on-line inspection has been developed by secondary development kit object ARX of CAD. Inspection feature datum and information were gotten by ARX tool in CAD stage, and then inspecting program can be automatically made up through inspecting process planning. On-line inspection automatic programming system based on solid driven technology has been applied in SSK-U6035 machining center. The application result shows that the programming system is simple and effective, which has realized integration of manufacturing and inspection more efficiently, increased precision, production efficiency and reduced the rate of rejection and tool damage.