Development of Vertical Articulated Robot Deburring System by Using Sensor Feedback

摘要

Abstract Demand of customer for higher quality of product is increasing. Number of skilled engineers, however, is chronically lacking in worldwide. Thus, the change of environment of production drives robotization of hand-finishing process recently. This study is about Robotization of deburring by means of a hand grinder, which is one of the hand finishing tools. Basically, in robotization of the hand-finishing process, teaching operation is selected for the programming of the tool path of the robotic arm. In this study, however, a vertically articulated robot equipped with various sensors is developed for the robotic deburring system, the feasibility of fully automated robotic deburring by using hand grinder is investigated.