Screen printing is very common technology in printing and dye factory, now. Silk screen which was used be clean is a born work. In this paper, robot which used in silk screen cleaning is discussed. For silk screen cleaning machine, the robot is used to transfer the silk screen which is ready to be washed. According to the structures of robot and machine, the algorithms of arc interpolation are proposed. In this algorithm, the path of robot end actuator is divided into a series of discrete points. The location and gesture of robot end actuator are computed and the motion parameters of every joint are computed by one dimension scanning optimization algorithm. The algorithm is composed and used in manipulator of robot which is used to transfer the silk screen into washing machine. The experiment results prove that the algorithm is valid and helpful.
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