Automatic programming of grinding robot

Thomessen, Trygve; Elle, Ole Jakob; Larsen, Jon Lund; Andersen, Torgrim; Pedersen, Jahn E.; Lien, Terje K.

doi:10.4173/mic.1993.2.4

Cited by 8 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Flowchart of the deburring pipeline 29 programmed. 16 The programming can be very time-consuming and the operator must be experienced to determine the necessary density of the points along the path.…”

Section: Human Demonstrationmentioning

confidence: 99%

See 1 more Smart Citation

Cascading trade‐off studies for robotic deburring systems

Onstein

Haskins

Semeniuta

2022

Systems Engineering

View full text Add to dashboard Cite

Advanced manufacturing technologies play an important role in keeping production in high‐cost countries. Due to their flexibility, robot‐based solutions have been one of the major enablers in establishing advanced manufacturing capabilities in the traditional high‐cost countries. This paper concerns the problem of automated deburring of cast parts. If performed manually, this operation introduces major health, safety, and environmental (HSE) concerns. As such, removal of highly variable casting burrs in the Norwegian context requires a solution based on robots, smart sensors, and advanced algorithms to tackle the problem in a flexible and cost‐effective way. Due to the complexity of the task, one is confronted with a breadth of various alternatives to choose from when realizing the desired functionality. These alternatives expand as one considers a pipeline of the subtasks involved in the process. The decisions made in each step cascade throughout the whole pipeline. To tackle the complexity while developing a robotized deburring system, a systemic approach based on cascading trade‐off studies is proposed in this paper. This paper is also a contribution to the gap in the literature for cases of trade‐off studies in the domain of mechanical engineering. The SPADE (stakeholders, problem formulation, analysis, decision making, and evaluation) methodology has been used as a framework to resolve automation of complex mechanical engineering manufacturing process decisions. The systems engineering (SE) approach proved useful to identify and prioritize the stakeholders and their needs, as well as analyzing the different alternatives in a complex engineering system when dealing with cascading trade studies.

show abstract

Section: Human Demonstrationmentioning

confidence: 99%

“…If the deburring path is curved, the path needs to be approximated by many straight line segments, meaning that lots of points have to be programmed 16 . The programming can be very time‐consuming and the operator must be experienced to determine the necessary density of the points along the path.…”

Section: Introductionmentioning

confidence: 99%

Cascading trade‐off studies for robotic deburring systems

Onstein

Haskins

Semeniuta

2022

Systems Engineering

View full text Add to dashboard Cite

show abstract

“…If the deburring path is curved, it must usually be approximated by many straight line segments, meaning that lots of points have to be programmed [17]. The programming can be very time consuming and the operator must be experienced to determine the necessary density of the points along the path.…”

Section: A Human Demonstrationmentioning

confidence: 99%

Deburring Using Robot Manipulators: A Review

Onstein

Semeniuta

Bjerkeng

2020

2020 3rd International Symposium on Small-Scale Intelligent Manufacturing Systems (SIMS)

View full text Add to dashboard Cite

Deburring of cast parts can be a very challenging task. Today, large burrs on large casting are mostly removed manually. Workers are exposed to hazardous working conditions through, among other things, high noise and vibration levels. Special purpose CNC-machines are available for deburring tasks, but they have a high investment cost that makes them unfit for high-mix low-volume processes. Deburring with robot manipulators are seen as a suitable and less expensive alternative, and have been in the focus of research topic for the last 50 years. Unfortunately, it has failed to move from research into industrial applications. One reason is the long system setup time that makes the cost of automatic deburring too high. This paper deals with the status and usage of robot manipulators in deburring applications with a focus on solutions for cast parts. The deburring pipeline and its components are investigated. There is a special focus on the solutions that lead to a more flexible and automatic deburring system by using sensors such as laser, vision and force control. The solutions are evaluated with regards to the current challenges with robotic deburring and what needs to be improved for robotic deburring to become available for high-mix low-volume processes.

show abstract

“…Asada and Izumi [2] have proposed an automatic programming method from operator 0-7803-5 184-3/99/$10.00 0 1999 IEEE 573 motion data, and Thomessen et al [3] have proposed a contour tracking system for automatic programming. But in these methods, operators have to write the robotlanguage programs offline for each workpiece, the operator motion data has to be acquired, or robots have to track the contour for each workpiece.…”

Section: Introductionmentioning

confidence: 99%

“…Offline and automatic programming methods have already been developed [I]- [3]. Asada and Izumi [2] have proposed an automatic programming method from operator 0-7803-5 184-3/99/$10.00 0 1999 IEEE 573 motion data, and Thomessen et al [3] have proposed a contour tracking system for automatic programming.…”

Section: Introductionmentioning

confidence: 99%

Teaching-less robot system for finishing workpieces of various shapes using force control and computer vision

Jinno

Uenohara

Oaki

et al.

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots Wit

View full text Add to dashboard Cite

In the case of conventional industrial robot systems, operators have to write robot-language programs for each type of workpiece. This is an onerous task, especially when each workpiece has a different shape. In this paper, we propose a teaching-less robot system for the finishing of two-dimensional workpieces of various shapes and thicknesses using force control and computer vision. The robot system does not require shape information for the workpiece to be included the CAD data or to be input by the operator. Each workpiece shape is acquired by segmenting edges into straight lines and circular arcs from the image data of the workpiece. The robot-language program for each workpiece is generated automatically from the workpiece shape data and finishing condition data. The effectiveness of the proposed method is veriJied by experiments using a newly developed robot system. In the system, the robot picks up a workpiece whose shape is not previously known on the workpiece stand by itself and carries out the finishing tasks using the automatically generated robot-language program. This method provides a compact and inexpensive finishing robot system which reduces the programming and workpiece-setting burden on the operators.

show abstract

Automatic programming of grinding robot

Cited by 8 publications

References 0 publications

Cascading trade‐off studies for robotic deburring systems

Cascading trade‐off studies for robotic deburring systems

Deburring Using Robot Manipulators: A Review

Teaching-less robot system for finishing workpieces of various shapes using force control and computer vision

Contact Info

Product

Resources

About