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