A mechatronic approach for double robots collaborative deburring of die casting

摘要

The objective of this research is to present a mechatronic approach with tools clamped by robots to improve the quality and efficiency of robotic deburring. Double robots are used to deburr the die casting on both sides collaboratively. The mathematical model of cutting force in deburring process is based on differential method and the maximum cutting force is calculated by Matlab software. Static analysis of the weak points of the fixture and workpiece assembly is presented by ANSYS software. Analysis and simulation results show convincing effects that the maximum equivalent stress is less than 39% of the allowable stress value of material properties. Furthermore, modal analysis is carried out to obtain the first 6 order natural frequency and vibration mode, the highest frequency of 413.61Hz is less than a quarter of the excitation frequency, and thus the resonance phenomenon is not occurred when cutting forces are applied to the fixture-workpiece interface. The proposed mechatronic approach can display good prospect of development.