Automation of Polishing Work by an Industrial Robot : System of Polishing Robot
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概要
- 論文の詳細を見る
This study deals with the automation of polishing work by use of an industrial robot with 6 degrees of freedom. Since polishing work, which takes much time, requires experience, patience and skill, it is manually performed by skilled workers. This study aims at rationalizing such difficult polishing work by introducing a robot and CAD technology. The arm of the robot can be equipped with two kinds of polishing tools, i.e., a rotational tool or an ultrasonic vibrational one, to cope with various cofigurations of the workpiece surface. In addition, the system allows collision-free polishing paths derived from the CAD system to be expressed in the robot coordinate system by use of a touch sensor. The system is found to be effective for obtaining a smooth workpiece surface, based on several experimental results.
- 社団法人日本機械学会の論文
- 1993-12-15
著者
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Asakawa N
Kanazawa Univ. Ishikawa Jpn
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Takeuchi Yoshimi
Dept. of Mechanical and Control Eng., The University of Electro-Communications
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Asakawa Naoki
Dept. of Mechanical and Control Eng., The University of Electro-Communications
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Ge Dongfang
Dept. of Mechanical and Control Eng., The University of Electro-Communications
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Takeuchi Yoshimi
Department Of Computer-controlled Mechanical Systems Osaka University
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Asakawa Naoki
Dept. Of Human And Mechanical Systems Eng. Faculty Of Eng. Kanazawa University
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Ge Dongfang
Dept. Of Mechanical And Control Eng. The University Of Electro-communications
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Takeuchi Yoshimi
Dept. Biochem. And Mol. Biol. Fac. Sci.
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