A Method for Determining Shape around Burrs for Highly Accurate Deburring and the Estimation of its Accuracy

Abstract

A method is proposed that enables deburring robots to accurately determine the surface shape of castings. De-termining the shape around a burr with an estimated error range is essential for accurate finishing. A laser range finder installed on the robot hand in our system provides information on the shape. The data output by the laser range finder is often affected by noise due to the sensing conditions and the property of the surface. We have studied a method that uses median filtering and least-square error fitting to acquire noise-reduced data and a method to estimate the error range of the determined shape statistically. Accurate information can thus be obtained by setting the proper sensing conditions. Application of this methods to an iterative deburring method achieved high accuracy for finished surface.