In this paper, the complex aspect of deburring of machined components while using a Selective Compliance Assembly Robot Arm (SCARA) robot is analyzed. There are two practices followed in robotic deburring, viz., the work piece is held by the robot's gripper while the deburring tool is external to the robot and the second mode, the deburring tool is held by the gripper with the work piece is held in a fixture external to the robot. The second mode is the focus of the present paper.In deburring operations, the forces exerted are very small in the case of small and medium sized components machined earlier by fine cuts with a small depth of cut, and therefore the deburring forces are neglected in the present analysis. A SCARA robot fabricated in-house has been utilized for the video graphic analysis. The recorded video is analyzed using any of the many video players to trace the path taken by the robot's quill. This data is utilized as inputs for the mathematical analysis and animation studies. Kinematic equations of a SCARA robot are derived using Denavit-Hartenberg notation. Mathematical equations for kinematic parameters and torques are derived. Kinematic parameters include joint angles, joint velocities, and joint accelerations. Mathematical analysis has been carried out using MATLAB software.The same SCARA robot is modelled and simulated for the path taken during deburring using CAD software and the analysis is carried for kinematic parameters .Comparisons are made for results obtained by the above mentioned three methods and graphs are drawn for joint angles, joint velocities, joint accelerations. Important conclusions are drawn for the robotic deburring operations using SCARA robots.
It is well known that in mechanical engineering production systems, an estimated 15–30% of the manufacturing cost is towards deburring operations. While small components may be deburred using one of the many technologies available, larger components like castings have to be deburred manually or in recent times with assistance from robots. In fact, most of the present mass production systems aim towards automation and robotics for carrying out these operations. At present, substantial research effort is being spent towards robotic deburring. The major issue with robotic deburring is that the tool path gets affected in view of the interaction of cutting forces between the work piece and robot.
The objective of present research is to carry out multidirectional investigations on robotic deburring using a SCARA robot, the application being confined mostly to the deburring of circular components. It is well known that SCARA (selective Compliant articulated Robot Arm) is a robotic manipulator with four degrees of freedom (3 rotary and 1 prismatic) and is preferred where speed, high precision and accuracy is required.
In this work investigations on SCARA robot are carried out for different sized component which is positioned at different distances with respect to the base which leads to present a solution to component placement with in the workspace (solvability analysis) and also presents the placement position of a deburring component with minimum joint torques. A brief discussion on simulation of SCARA robot with force feedback control is presented, since this plays a major role in the maintenance of the path in the presence of varying cutting forces, and also presented kinematic and dynamic analysis of a SCARA robot for deburring of rectangular paths.
The overall kinematic and dynamic analyses of the SCARA robot with different positional configurations of the workpieces in the workspace enables the energy to be computed for assessing the most desirable state for deburring which consumes the least energy. This data thus obtained enables a comparison and pseudo-optimize the best configuration for the entire deburring operation. Although the methodology is at present confined mostly to circular paths, similar analyses can be carried out for rectangular path deburring (similar to those on engine cylinder heads) and oblong and elliptical profiles which are commonly found in many engineering components.
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