A Robotic Cell for Deburring of Polygonal Objects
نویسندگان
چکیده
A robotic cell for deburring planar polygonal objects is described. The object comes from a conveyor and arrives in a random position on a parallel manipulator. Its center of mass is located through the measurements of a 6-componants force sensor, it is then grasped and a force-feedback scheme is used to fix the object on a special plate. Then a probing algorithm is used to discover the location of the vertices of the object with a minimal number of measurements. The coordinates of the vertices are then used to build an ideal reference model of the object which is fed to a force-feedback scheme which perform the deburring of the object.
منابع مشابه
The Development of Co:mpliant Tool Holders for Robotic Deburring
This paper represents a practical and economical alternative to manual deburring. Several passive end-effectors have been designed, built and tested to meet the robotic deburring requirements. The compliancy in these end-effectors allow for robot position uncertainties relative to the parts. A set of experiments have been carried out to show the effectiveness of the end-effectors performance in...
متن کاملCad Directed Robotic Deburring
Robots prove advantageous for the deburring of machined parts because they are more repeatable than humans and suffer no fatigue. However, most deburring robots are programmed manually, requiring a large investment in programming time. At the National Bureau of Standards' Automated Manufacturing Research Facility, research is being conducted on techniques to automate robot programming. A techni...
متن کاملGrasp analysis of a four-fingered robotic hand based on Matlab simmechanics
The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...
متن کاملMeasurement Assisted Robotic Edge Deburring of Aero engine Components
Aero engine components are often subjected to high stress levels and vibrations during operation. The mechanical integrity of these machined components may be compromised by the presence of burrs and sharp edges. Therefore the removal of burrs and the creation of rounded edges is necessary. To do this manually is time consuming and costly and may have potential quality issues. The application o...
متن کاملA New Solution for the Cyclic Multiple-Part Type Three-Machine Robotic Cell Problem based on the Particle Swarm Meta-heuristic
In this paper, we develop a new mathematical model for a cyclic multiple-part type threemachine robotic cell problem. In this robotic cell a robot is used for material handling. The objective is finding a part sequence to minimize the cycle time (i.e.; maximize the throughput) with assumption of known robot movement. The developed model is based on Petri nets and provides a new method to calcul...
متن کامل