Robotic deburring by Using Piezo Electric Actuator

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  • バリ取りロボットへの圧電アクチュエータの応用

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Abstract

Robotic deburring of grass fiber reinforced plastic (GSRP) parts was investigated experimentally. In this task, the robot moves the grinding wheel at a constant speed. The task involves significant force interaction between the grinding wheel and the GFRP part. When the grinding wheel encounters a large burr, the normal force increases and the grinding wheel separates from the part. An active tool-holder system was developed for precise and rapid deburring by using a force control technique in order to gurantee stable GFRP deburring process and to get a 45 degree chamfer of C0.5±0.2mm. In this deburring strategy, the active tool-holder pushs the grinding wheel to the part according to the normal force, so the separation of the wheel from the part stays small. Experimental results were given to the effectiveness of the ATH system for robotic deburring of GFRP parts.

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