High-Accuracy and Low-Cost Chamfering System by a Material-Handling Robot –Individual Error Compensation Using Image Processing–
Naoki Asakawa*, Hidetake Tanaka**, Tomoya Kiyoshige*,
and Masatoshi Hirao*
*Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan
**Faculty of Engineering, Nagaoka University of Technology, 1603-1 Kamitomioka, Nagaoka, Niigata 940-2188, Japan
The study deals with an automation of chamfering by a material-handling robot with considering of accuracy and costs. The study focused on automation of chamfering without influence of individual dimensional error of workpiece. A casted impeller usually chamfered with handwork is treated in the study as an example of a workpiece having individual dimensional error. In the system, a file driven by air reciprocating actuator is used as a chamfering tool and image processing technology is used to compensate the dimensional error of the workpiece. The robot hand carries a workpiece instead of a chamfering tool both for chamfering and for material handling. From the experimental result, the system is found effective to chamfer a workpiece having dimensional error automatically.
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