Automation of Deburring by a Material-Handling Robot —Generation of a Deburring Path Based on a Characteristic Model—

摘要

This study deals with the automation of deburring in press working using a material-handling robot. The robot simultaneously manipulates and deburrs a workpiece using robot control commands automatically generated. Robot control commands are generated based on environmental information — positioning of carry-in/carry-out table, tool and end effector dimensions — and CAD data using a “characteristic model” to realize robot operation suiting the working environment. The results of experiments confirm the proposal’s effectiveness in automatic deburring and material handling.