Automation of Deburring by a Material-Handling Robot —Generation of a Deburring Path Based on a Characteristic Model—

Naoki Asakawa; Fumitake Saegusa; Masatoshi Hirao

doi:10.20965/ijat.2010.p0026

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IJAT Vol.4 No.1 pp. 26-32

doi: 10.20965/ijat.2010.p0026

(2010)

Paper:

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Automation of Deburring by a Material-Handling Robot —Generation of a Deburring Path Based on a Characteristic Model—

Naoki Asakawa, Fumitake Saegusa, and Masatoshi Hirao

Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan

Received:

October 13, 2009

Accepted:

November 9, 2009

Published:

January 5, 2010

Keywords:

industrial robot, deburring, CAD, CAM, material handling

Abstract

This study deals with the automation of deburring in press working using a material-handling robot. The robot simultaneously manipulates and deburrs a workpiece using robot control commands automatically generated. Robot control commands are generated based on environmental information — positioning of carry-in/carry-out table, tool and end effector dimensions — and CAD data using a “characteristic model” to realize robot operation suiting the working environment. The results of experiments confirm the proposal’s effectiveness in automatic deburring and material handling.

Cite this article as:

N. Asakawa, F. Saegusa, and M. Hirao, “Automation of Deburring by a Material-Handling Robot —Generation of a Deburring Path Based on a Characteristic Model—,” Int. J. Automation Technol., Vol.4 No.1, pp. 26-32, 2010.

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References

[1] Japan Robot Association, Quarterly Results, http://www.jara.jp/data/dl/kado.pdf
[2] K. Shirase, N. Tanabe, M. Hirao, and T. Yasui, “Articulated Robot Application in End Milling of Sculptured Surface,” JSME Int. Journal, Series C, Vol.39, No.2, pp. 308-316, 1996.
[3] N. Asakawa and Y. Takeuchi, “Teachingless Spray-Painting of Sculptured Surface by an Industrial Robot,” Proc. of the 1997 IEEE Int. Conf. on Robotics and Automation, pp. 1875-1879, 1997.
[4] N. Asakawa and Y. Takeuchi, “Dexterous Polishing of Sculptured Surfaces by an Industrial Robot — Automatic Selection of I-Shaped and L-Shaped Rotational Tools —,” CIRP Jour. of Manufacturing Systems, Vol.27, No.4, pp. 417-421, 1998.
[5] Japan Robot Association, January —December 2008 Results,
http://www.jara.jp/e/dl/2008.pdf
[6] Y. Kanjyo, Y. Nishi, S. Shimoyama, K. Takahata, and K. Sato, “Development of MMST Steel Segment Welding Robot System,” NKK Technical Report, No.178, pp. 72-75, 2002 (in Japanese).
[7] S. Hara, T. Izumi, and M. Hida, “K-OTS Off-line Programming Software for Arc Welding Robots,” Kobe Steel Engineering Reports, Vol.54, No.2, pp. 96-99, 2004 (in Japanese).
[8] N. Asakawa, Y. Mizumoto, and Y. Takeuchi, “Automation of Chamfering by an Industrial Robot; Development of a System with Reference to Tool Application Direction,” Journal of Robotics and Mechatronics, Vol.13, No.1, pp. 30-35, 2001.
[9] N. Asakawa, Y. Mizumoto, and Y. Takeuchi, “Automation of Chamfering by an Industrial Robot; Improvement of a System with Reference to Tool Application Direction,” Proc. of the 35th CIRP Int. Seminar on Manufacturing Systems, pp. 529-534, 2002.
[10] H. Tanaka, N. Asakawa, and M. Hirao, “Control of Chamfering Quality by an Industrial Robot,” Proc. of Int. Conf. on Machine Automation 2002, pp. 399-346, 2002.
[11] N. Asakawa, H. Tanaka, T. Kiyoshige, and M. Hirao, “Highaccuracy and Low-cost Chamfering System by a Material-Handling Robot (Individual Error Compensation Using Image Processing),” Int. Jour. of Automation Technology, Vol.3, No.4, pp. 465-470, 2009.
[12] Japan Automobile Manufactures Association, JAMAIGES Subset V1.04 Specification book (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Japan Robot Association, Quarterly Results, http://www.jara.jp/data/dl/kado.pdf

[2] [2] K. Shirase, N. Tanabe, M. Hirao, and T. Yasui, “Articulated Robot Application in End Milling of Sculptured Surface,” JSME Int. Journal, Series C, Vol.39, No.2, pp. 308-316, 1996.

[3] [3] N. Asakawa and Y. Takeuchi, “Teachingless Spray-Painting of Sculptured Surface by an Industrial Robot,” Proc. of the 1997 IEEE Int. Conf. on Robotics and Automation, pp. 1875-1879, 1997.

[4] [4] N. Asakawa and Y. Takeuchi, “Dexterous Polishing of Sculptured Surfaces by an Industrial Robot — Automatic Selection of I-Shaped and L-Shaped Rotational Tools —,” CIRP Jour. of Manufacturing Systems, Vol.27, No.4, pp. 417-421, 1998.

[5] [5] Japan Robot Association, January —December 2008 Results,
http://www.jara.jp/e/dl/2008.pdf

[6] [6] Y. Kanjyo, Y. Nishi, S. Shimoyama, K. Takahata, and K. Sato, “Development of MMST Steel Segment Welding Robot System,” NKK Technical Report, No.178, pp. 72-75, 2002 (in Japanese).

[7] [7] S. Hara, T. Izumi, and M. Hida, “K-OTS Off-line Programming Software for Arc Welding Robots,” Kobe Steel Engineering Reports, Vol.54, No.2, pp. 96-99, 2004 (in Japanese).

[8] [8] N. Asakawa, Y. Mizumoto, and Y. Takeuchi, “Automation of Chamfering by an Industrial Robot; Development of a System with Reference to Tool Application Direction,” Journal of Robotics and Mechatronics, Vol.13, No.1, pp. 30-35, 2001.

[9] [9] N. Asakawa, Y. Mizumoto, and Y. Takeuchi, “Automation of Chamfering by an Industrial Robot; Improvement of a System with Reference to Tool Application Direction,” Proc. of the 35th CIRP Int. Seminar on Manufacturing Systems, pp. 529-534, 2002.

[10] [10] H. Tanaka, N. Asakawa, and M. Hirao, “Control of Chamfering Quality by an Industrial Robot,” Proc. of Int. Conf. on Machine Automation 2002, pp. 399-346, 2002.

[11] [11] N. Asakawa, H. Tanaka, T. Kiyoshige, and M. Hirao, “Highaccuracy and Low-cost Chamfering System by a Material-Handling Robot (Individual Error Compensation Using Image Processing),” Int. Jour. of Automation Technology, Vol.3, No.4, pp. 465-470, 2009.

[12] [12] Japan Automobile Manufactures Association, JAMAIGES Subset V1.04 Specification book (in Japanese).