Vision Assisted Robotic Deburring of Edge Burrs in Cast Parts

摘要

Abstract In the present day batch production scenario the time taken to program the deburring robot for each batch is one of the major concerns in the industry. In the batch production scenario deburring robots are programmed by operators via so-called “Teach” or “Offline” programming methodologies and require costlier work holding devices. Both these methodologies have associated weaknesses like a high programming time especially when each batch of workpiece has a different shape. Moreover offline methodology cannot carry information of the real work piece. In this paper, a Vision-Guided Robotic System (VGRS) methodology for the deburring of workpieces to eliminate the weakness of “Teach” or “Offline” programming methodologies is proposed. In this proposed system the shape of two-dimensional workpiece is acquired for each workpiece and the robot-language program is generated automatically from the workpiece shape data and finishing condition data. The proposed method is verified by experiments using the robot system. This method provides a compact and inexpensive finishing robot system which reduces the programming time.