This study aims to automate deburring resin workpieces as generated in injection molding by an articulated robot using sensorless shape-tracing deburring technology. Because resin workpieces largely vary in their individual shape differences, as well as installation errors, it is difficult for an articulated robot, which operates solely based on the given teaching in general use, to precisely deburr the workpieces owing to its precision deficiency. In this study, a deburring technology called “shape-tracing deburring” was developed to prevent a tool from breaking into a workpiece while absorbing any positional errors, based on a mechanism capable of mechanically maintaining the force between the tool and the workpiece constant in relation to the shape of the latter. In this way, an articulated robot can stably deburr the workpiece by following any changes in the workpiece shape. In this report, the principle and system of the shape-tracing deburring technology capable of mechanically tracing the workpiece shape without a sensor are discussed. Furthermore, the effectiveness of the developed shape-tracing deburring technology is demonstrated through an example of deburring a resin molded article with an actual cutter complete with a shape-tracing part.

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