抄録
The study presents the design of the appropriate robot structure for deburring and finishing works. The conventional robot structure is not necessarily appropriate in the light of realizing the required working accuracy and incidental functions. The required performance and functions for working robots are at first analyzed from the viewpoint of economic and productive quality. Then, a new method to realize more suitable robot structure is proposed from the following points : how to combine the motion modules to construct the robot and how to minimize the tool path error. Two kinds of robot structure have been developed : one to achieve high stiffness, and the other to realize a variety of motion functions for equipment. It is found that the robot developed in the study has the potential of achieving high stiffness against working force and high path accuracy. As a result, a validity of the methodology to construct the robot structure suitable for deburring and finishing works is verified.
