A mechatronic approach for robotic deburring |
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| Affiliation: | 1. School of Electrical and Electronics Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798, Singapore;2. Mechanical Engineering Department, Faculty of Engineering, Assiut University, Assiut 71515 Egypt;1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;2. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China;3. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;4. Wuxi CRRC Times Intelligent Equipment Co., Ltd., Wuxi 214174, China |
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| Abstract: | This paper deals with the implementation of a mechatronic methodology for the robotic deburring of planar workpieces with an unknown shape performed by an industrial manipulator. The approach is based on the use of a hybrid force/velocity control law and on a correlated suitable design of the deburring tool. Experimental results, obtained with a two degrees-of-freedom SCARA industrial robot manipulator, show the effectiveness of the method. |
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