Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 33123
Retraction Free Motion Approach and Its Application in Automated Robotic Edge Finishing and Inspection Processes
Authors: M. Nemer, E. I. Konukseven
Abstract:
In this paper, a motion generation algorithm for a six Degrees of Freedom (DoF) robotic hand in a static environment is presented. The purpose of developing this method is to be used in the path generation of the end-effector for edge finishing and inspection processes by utilizing the CAD model of the considered workpiece. Nonetheless, the proposed algorithm may be extended to be applicable for other similar manufacturing processes. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The proposed method significantly simplifies the given problem, resulting in a reduction in the CPU time needed to generate the path, and offers an efficient overall solution. The ABB IRB2000 robot is chosen for executing the generated tool path.Keywords: Offline programming, CAD-based tools, edge deburring, edge scanning, path generation.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1128095
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 918References:
[1] F. Leali, M. Pellicciari and F. Pini, "An Offline Programming Method for the Robotic Deburring of Aerospace Components," Robotics in Smart Manufacturing, Communications in Computer and Information Science, vol. 371, pp. 1-13, 2013.
[2] O. Valente, "A New Approach for Tool Path Control in Robotic Deburring Operations," in 17th international Congress of Mechanical Engineering, Sao Paulo, 2003.
[3] X. L. Liao, "Modeling and control of automated polishing/deburring process using a dual-purpose compliant tool head," International Journal of Machine Tools & Manufacture, pp. 1454-1464, 2008.
[4] H. Zhang, H. Chen, N. Xi, G. Zhang and J. He, "On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels," in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 2006.
[5] H. Song, K. Byeong-Sang and S. Jae-Bok, "Tool Path Generation based on Matching between Teaching Points and CAD Model for Robotic Deburring," in The 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kaohsiung, 2012.
[6] S. Lee, C. Li, D. Kim, J. Kyung and H. ChangSoo, "The Direct Teaching and Playback Method for Robotic Deburring System Using the Adaptiveforce-control," in 2009 IEEE International Symposium on Assembly and Manufacturing, Suwon, 2009.
[7] L. Princely and S. T, "Vision Assisted Robotic Deburring of Edge Burrs in Cast Parts," Procedia Engineering, vol. 97, pp. 1906-1914, 2014.
[8] N. Asakawa, K. Toda and Y. Takeuchi, "Automation of chamfering by an industrial robot; for the case of hole on free-curved surface," Robotics and Computer Integrated Manufacturing, vol. 18, p. 379–385, 2002.
[9] S. Lavalle, Planning Algorithms, Cambridge: Cambridge University Press, 2006.
[10] L. E. Kavraki, P. Svestka, J.-C. Latombe and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Transactions on Robotics and Automation, vol. 12, p. 566–580, 1996.
[11] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," International Journal of Robotics Research, vol. 5, p. 90–98, 1986.
[12] P. Chotiprayanakul, D. K. Liu, D. Wang and D. G., "A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environments," in 24th International Symposium on Automation & Robotics in Construction, Madras, 2007.
[13] H. B. J. Kazerooni and B. Kramer, "An Approach to Automated Deburring by Robot Manipulators," Journal of Dynamic Systems, Measurement, and Control, vol. 108, pp. 353-359, 1986.