Kinematics and Dynamics Modelling of Automatic Faceting Robot and the Geometry of Facet

Abstract

In this paper, an automatic faceting robot is studied. The kinematics and dynamics of this robot-faceter are calculated and analyzed. The relationship between shear height and rotational angle assuming a hemisphere perform and the canonical preform is derived accurately which is essential for faceting of gemstone jewelry. Also, we calculate the effect of shear forces on the mechanical arm during the facet of gemstone with canonical preform. Different stress components of faceter robot manipulator are analyzed here.