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提出一种基于精密机械手的适于利用各种材料制造大尺寸零件的快速原型工具。7自由度的机器人系统具有4m×2m×2m的工作空间，足够制造许多大型零件（如船模等）的原型。对于给定的三维CAD模型，提出一种可以自动生成用于机器人切割的无干涉路径算法，通过对粗加工和精加工路径的分别考虑，实现材料的高效中去除。
A rapid prototyping tool based on a precision manipulator that is suitable for manufacturing large-sized parts from a variety of materials is proposed. The 7-DOF robotic system has a working area of 4m x 2m x 2m, enough to make many prototypes of large parts such as ship models. For a given three-dimensional CAD model, a non-interference path algorithm can be automatically generated for robotic cutting, which can be effectively removed by considering the roughing and finishing paths respectively.