ロボットによる磨き作業の自動化 : 第3報,L形回転工具による6軸制御磨き

抄録

The study deals with the generation of 6-axis-control collision-free polishing command data of an industrial robot with 6 degrees of freedom. Workpieces with, for example, a sheer wall or overhanging curved surface, are difficult to polish using normal rotational tools, since collision between the polishing tool and workpiece cannot be avoided. Thus, an L-type rotational tool consisting of a tool axis and an arm axis was devised, where the angle of the tool axis to the arm axis can be set arbitrarily. In generating the tool path for the L-type rotational tool, the 6-axis collision avoidance concept, consisting of two stages, is newly introduced, based on our own CAD/CAM sysetm. The collision-free polishing path generated is converted into robot control commands for actual polishing work. It is experimentally found that the system is valid for polishing workpieces with complicated shape.