提起加工時，一般想到的會是車床、銑床等進行直線運動的工具機，若要製造較複雜的工件，則會使用CNC多軸工具機，然而，若以多軸CNC製造傳統老師傅手工製作的工藝品，卻有點把問題複雜化了，因此，本文以STL作為3D圖形檔案，提出新的計算刀具加工路徑方法，並將機械手臂與力量感測器結合，使機械手臂可以在依照計算出來的加工軌跡運動的同時，也能根據感測器數值而有相對應的運動，若感測器的值超過設定閥值，刀具則會沿著原加工路徑退後，避免刀具及機械手臂因為力量過大而損壞。

The purpose of this paper is to integrate 3D design and process. After importing 3D STL file, the trajectory of the robot arm can be generated automatically via the two proposed methods, the contour projection method and the coordinate transformation method. With additional force sensors, the machining force could be calculated. If the force is too large, then the robot will have the corresponding movement.
　　In the experiment, we could find that when the sensor force is over the threshold, the robot will go backward, which decreases the force. And the final product is similar to the 3D graph drawn by drawing software, which shows that the method proposed in this article is feasible and practical.

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