Automated Deburring by Robot Manipulators

Abstract

The deburring process of manufactured parts has been investigated theoretically and experimentally as a frequency domain control problem with special regard to application by industrial robot manipulators. A new control strategy has been developed for precision deburring to guarantee the burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. Compliant tool-holders, designed according to the above control strategy, provide the required normal and tangential forces for deburring. A servo positioning table used to hold parts, has been considered in this study to compensate for robot oscillations up to 80% of robot oscillations. The robot, the compliant tool-holder, and the servo positioning table, working together with a closed-loop process control, from a new system that deburrs manufactured parts.