Abstract
For accurate robotic deburring of an article of cast metal, the analysis and the synthesis of the methodology are discussed. Firstly conventional methods for finishing the cast surface are comprehensively surveyed to point out the essential problems. Based on these analysis, two-mode deburring approach (coarse/fine) are proposed. In the fine mode, based on a linear cutting process model, possibility of the complete finishing by iterative look-and-cut feedback are confirmed and feed rates planning strategy to minimize the deburring time are proposed. The validity of the proposed method has been experimentally confirmed.
