Robotic Deburring Based on On-line Burr Measurement

  • L. Liao
  • F. Xi
  • S. Engin
Conference paper
First Online:

Abstract

A new approach is presented in this paper for modeling and control of an automated deburring process that utilizes a hybrid robot and a compliant toolhead. The robot is used for motion control while the toolhead is used for force control. This toolhead has a pneumatic spindle that can be extended and retracted by three pneumatic actuators to provide the tool compliance. The model for deburring process is developed based on the dynamics of the compliant toolhead and the micro-contact model. By integrating a linear encoder, this toolhead can be used for on-line burr measurement through sensing the tool length variation due to burrs. For the deburring control, a closed-loop tool length controller is developed to regulate the tool length through the tool length sensing. This control method has been modeled, simulated, and implemented. Both simulation and experiment results demonstrate the effectiveness of the presented method.

Keywords

Robotics deburring On-line burr measurement Compliant deburring toolhead 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • L. Liao
    • 1
  • F. Xi
    • 1
  • S. Engin
    • 2
  1. 1.Department of Aerospace EngineeringRyerson UniversityTorontoCanada
  2. 2.Pratt & Whitney Canada Corp.QuebecCanada

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