Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor

Optimization of Abnormal Point Cloud Recognition in Robot Vision Grinding System Based on Multidimensional Improved Eigenvalue Method (MIEM)

“…With the improvement of precision and rigidity of industrial robots, more and more industrial robots have been directly applied to grinding and drilling. In the case of cutting, milling, etc., it gradually replaces the traditional manual operation with harsh working environment, low processing efficiency, and poor consistency of surface polishing quality [1].…”

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

“…A flexible robot-based cast iron deburring cell using a single-point laser displacement sensor was developed for small batch production of a robotized deburring task in a standard cast iron foundry scenario [26]. An adaptive robotic system using a custom-developed 3D laser-triangulation profilometer was developed for the robotic deburring of die-cast parts with position and orientation error correction [27]. Through discrete event simulation and 3D digital human modeling, a multi-purpose digital simulation approach was proposed for the sustainability enhancement of a real manufacturing cell of the aerospace industry, automated by robotic deburring [28].…”

“…Several studies investigating tool path adaptation and process parameter control for robotic deburring were presented. A tool path adaptation for robotic deburring was presented in accordance with the registration using a custom 3D laser-triangulation profilometer to compensate the positioning errors of the currently processed workpiece, which is difficult to ensure repeatable clamping [27]. A tool path modification method based on a computer-aided design model and direct teaching was proposed to compensate for the position/orientation errors of the workpiece, in addition, impedance control was used to avoid applying an excessive contact force and a virtual wall was adopted to improve the force-control performance for the robotic deburring process [29].…”

“…These studies of tool path adaptation and process parameter control for robotic deburring are usually conducted on one or more traditional and commercial six-DOF serial industrial robot manipulators. The tool path adaptation for robotic deburring implemented usually needs to supplement extra equipment or processes, e.g., using a vision system described in [27,36] or direct teaching [29]. Other studies on the process parameter control for robotic deburring have certain constraints, e.g., the deburring tool is an abrasive diamond disc in the control strategy for the process parameter control, and other deburring tools are not considered [30]; the designed control action and implementation are more intricate, such as [25,31,32,34,36]; the procedure of the proposed approach is more complicated, such as [33]; or detailed deburring process parameters such as robotic feed and spindle speed for the deburring industrial robot are not considered [35].…”

Geometric Error Measurement and Identification for Rotational Axes of a Five-Axis CNC Machine Tool

“…Similar to the principle of the R-test, the CapBall was developed by Zargarbashi and Mayer [22] which was a kind of measuring device equipped with a non-contact capacitance sensor. In addition to the aforementioned methods, it is feasible to apply a laser to error measurement in rotational axes [23] and [24]. Wang et al [25] and [26] proposed a method to measure the geometric errors of rotational axes by way of a laser tracker.…”