産業用ロボットによる面取り作業の自動化 : 工具適用方向を参照した位置誤差補正システムの開発

概要

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The study deals with the automatic chamfering with an industrial robot. Although the automatic production system with an industrial robot has recently been developed, the chamfering and the deburring are still obstructions of automatic system. When the model coordinate system is matched to the robot coordinate system, the matching error will occur. Tool paths need to be generated, considdering the depth of cut on the basis of cut on the basis of CAD data of workpiece. The aim of the study is to develope an intelligent holder and automatic chamfering system. The intelligent holder can correct position error by perceiving the contact force and comparing it with the theoretical one. This system, TADRPECS(Tool Application Direction Referenced Position Error Compensation System), is experimentally found to be effective in chamfering.
一般社団法人日本機械学会の論文
2000-10-25