Experiments in robotic fettling using visual feedback

被引:6
|
作者
Shirinzadeh, B [1 ]
Roberts, M
机构
[1] Monash Univ, Dept Mech Engn, Clayton, Vic 3168, Australia
[2] Nissan Casting Australia Pty Ltd, Dandenong, Vic, Australia
来源
INDUSTRIAL ROBOT | 1998年 / 25卷 / 04期
关键词
deburring; fettling; force sensors; robots;
D O I
10.1108/01439919810226285
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Increasingly, the laborious task of removing burrs on castings is being automated with the introduction of robots. This is largely to ensure higher level of consistency and efficiency generally not possible with manual fettling. These burrs are unpredictable in size and shape, and if not removed, can lead to major problems in automated factory lines. Fettling is an important area in advanced robotic applications. This paper presents a strategy using a compliant wrist unit to obtain forces during robotic fettling. A specialised fettling wrist unit incorporating a remote centre of compliance (RCC) unit and a CCD camera is described. Experiments are carried out to evaluate the feasibility of this method. Fettling experiments are also performed using a force/torque sensing unit. A comparison of the results of these experiments is provided. The process parameters for fettling are described and relationships among these are established.
引用
收藏
页码:276 / +
页数:7
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