鋳バリ取りロボットの計測制御

抄録

This paper deals with sensors and control technologies of a robot for deburring castings.
Conventional robotic operations such as play back of positions or numerical control are not adaptable to deburring processes because :
• Size and location of burrs vary among workpieces ;
• Force is applied to the arms of the robot during deburring ;
• There is the fear that the tool might cut into the master body of castings.
This paper discusses how to use sensors :
• for detection of shape and location of burrs ;
• for measurement of force applied to the deburring tool ; and
• for monitoring of surface of casting during deburring.
This paper also describes a variable structure system (VSS) of control which enables the deburring tool to clean the surface of castings within the required degree of accuracy, and at the same time to keep the surface from damage by the use of signals from the sensors.