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

概要

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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.
一般社団法人日本機械学会の論文
1994-03-25