유연한 공구 고정 장치와 다축 로봇팔을 이용한 디버링 시스템 개발
The Development of Deburring System using the Revolute Robot Manipulator and the Flexible Tool Holder
0
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
A deburring system using the joint of revolute robot manipulator with a tool holder was developed for deburring automation. The tool holder composed of the plunger with spring was developed for freedom of three degree operation. The tool holder was applied for compensation of position errors during trajectory tracing or deburring the workpiece of ununiform. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was developed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis. In this paper, using the deburring system attached at the revolute robot manipulator, deburring experiments were performed. According to the experimental results, the good performance of the proposed deburring system using the revolute robot manipulator was shown.
Abstract
A deburring system using the joint of revolute robot manipulator with a tool holder was developed for deburring automation. The tool holder composed of the plunger with spring was developed for freedom of three degree operation. The tool holder was applied for compensation of position errors during trajectory tracing or deburring the workpiece of ununiform. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was developed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis. In this paper, using the deburring system attached at the revolute robot manipulator, deburring experiments were performed. According to the experimental results, the good performance of the proposed deburring system using the revolute robot manipulator was shown.
참고문헌 (4)
- Hybrid Force, "Position Control in Robotic Deburring", H.Kazerooni, DMC Project Report no. 8604123
- G. M. Bone, "Force Control for Robotic Deburring", Journal of Dynamic System, Measurement, and Control, 113, pp.395~400 (1991)
- Steven D. Eppinger, "Three Dynamic Problems in Robot Force Control", 1989 IEEE (1989)
- 최형식, "폐체인 구조의 새로운 다관절 로봇 매니퓰레이터 개발", 한국마린엔지니어링학회지, 27(2), pp.238~245 (2003), 한국마린엔지니어링학회