Scraping is done on the sliding surface of a machine tool or surface plate. Scraping is high-precision, effective for reducing friction and helps prolong the life of a machine. Scraping can be done by humans and can remove the surface of cast iron which was originally finished by a machine with cutting tools. This hand scraping needs skill and experience to do a proper job. In addition, the fact that there are few people who can do this type of work, manual scraping is hard work. and there are few people willing to take on this work In order to solve these problems, the use of robots is considered very effective. We videoed a skilled worker and analyzed the forces of the scraping process and made a model illustration of the cutting work. Based on the model, we calculated the force required for scraping work and considered the specifications for the scraping robot. Furthermore, we designed the part of the cam that transmits work from circular movements to linear motion. This paper describes the research and development of the prototype of a scraping robot.
