産業用ロボットによる面取り作業の自動化 : インテリジェントホルダの改良と適用(機械要素,潤滑,工作,生産管理など)

概要

論文の詳細を見る
The study deals with the automatic chamfering for the workpiece with complex shape on the basis of CAD data, using an industrial robot. We have already developed a system named TA-DRPECS-tool path, pushing direction and force at the each chamfering point are calculated from CAD data both to keep chamfering conditions stable and to keep a larger range in space for workpieces with complex shape. As a chamfering tool, a rotary-bar type tool is attached with "intelligent holder". The holder consists of a force sensor and two linear actuators to realize smart force control. In the article, improvements of the holder to increase a controllability and to expand workspace of the robot are reported. From results of experiment to chamfer curved edges of intersected throughholes, the system is found to be effective to chamfer edges of a workpieces with complex shape.
一般社団法人日本機械学会の論文
2002-05-25