1A1-D08 金型研磨ロボットの研究 : 一定圧力下における平面研磨実験(作業をするロボット)

概要

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The final goal of this study is to develop a robotic system that can precisely polish metal molds instead of skilled persons. We have been trying to build such a system using an industrial robot with six joints, and soft and ceramic whetstones to polish metal molds. In this paper, we build a machine that can polish under constant polishing pressure condition. Then, we conducted an experiment to uncover relationships between the number of polishing and surface roughness. As a result, we found out that surface roughness was almost same when the number of polishing varied. However, the standard deviation of the surface roughness varies according to the number of polishing. Also we attached a six axes force sensor to an industrial robot to measure forces during polishing.
一般社団法人日本機械学会の論文
2011-05-26