Automated Tool Trajectory Generation for Robotized Deburring of Cast Parts Based on 3D Scans

Abstract

Manual removal of burrs on castings introduces health, safety, and environmental concerns. Automated removal of highly variable casting burrs could improve safety, but requires a solution based on robots, smart sensors, and advanced algorithms to tackle the problem in a flexible and cost-effective way. This paper presents a system for automatic tool trajectory generation for robotic deburring of cast parts with a specific focus on the robotic tool trajectory generation algorithm. The system generates a robotic trajectory adapted to the specific workpiece based on CAD model and 3D scans of the workpiece. The registered 3D scans and CAD model is used to generate a 3D model of each individual workpiece. This is fed into the tool trajectory generation algorithm. The algorithm uses the generated 3D model as well as a priori knowledge of the casting process to generate the tool trajectory. The tool trajectory planning algorithm has been tested on a set of various 3D models of cast parts, and the generated robotic tool path has been both simulated and tested on a KUKA KR 60.