3602 産業用ロボットによる面取り作業の自動化 : 改良型インテリジェントホルダの適用

概要

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The study deals with the automatic chamfering with an industrial robot. Although the automation system with an industrial robot has been introduced, the chamfering and the deburring are still out of automation. Chamfering paths need to be generated, considering the depth of cut on the basis of CAD data of workpiece. However, the matching error will occur between the model coordinate system and the robot coodinate system. The aim of the study is to develop an intelligent holder and automatic chamfering to cope with the problem. The intelligent holder could correct position errors by perceiving the contact force and comparing it with the theoretical one. As the original intelligent holder had some problem, an improved intelligent holder is designed. This system is experimentally found to be effective in chamfering.
一般社団法人日本機械学会の論文
2000-07-31