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Robot Machining

Robotic Deburring
  • Research Background
    • Deburring is a machining process which involves much noise, vibration and dust, so it can be harmful to workers.
    • Deburring is manually conducted in poor working conditions with high labor costs.
  • Research Objective
    • Generation of tool path from CAD model for precision deburring process
    • Force control stragey for maintaining the contact between deburring tool and workpiece
  • Research Output
    • Matching algorithm between CAD model and teaching points for tool path generation

         

  • Robot control system for deburring process
    • Control system based on PC (CPU: dual core 3.0 GHz)
    • External timer for a real-time control (sampling time: 1 ms, DA12-16(PCI))
    • Motion controller for a position control (AJINEXTEK, PCI-N804)
    • Force/Torque sensor for a  force feedback (JR3, PCI-2184S)
    • Deburring tool: Rotary-type hand grinder (Robot Bosch, Dremel 300)

  • Force control strategy for deburring process
    • Impedance control based on position control
    • Normal direction: Maintaining contact between tool and workpiece without excessive force
    • Tangential direction: Tracking the contour of workpiece and cope with various size of burrs

  • Tool path generation method
    • Solidworks for CAD model
    • MasterCAM for extracting the contour of workpiece
    • Direct teaching method to recognize the workpiece position 
    • Matching algorithm between CAD model and teaching points to calculate the translation and rotation error