Title: Modelling and analysis of contact force for robotic deburring process

Authors: X.L. Wang, Y. Wang, Y.N. Xue

Addresses: School of Mechanical Engineering, Shandong University, Jinan, China. ' School of Mechanical Engineering, Shandong University, Jinan, China. ' School of Mechanical Engineering, Shandong University, Jinan, China

Abstract: The conventional constant force control methods for the deburring process have the inherent characteristic of leaving the deburred surface as an imprint of the original. In this paper, a process force model considering the burrs variations is presented to predict the contact force. An adaptive algorithm based on the impedance control is used to reduce the burrs effect on the machined surface. The specified contact force in normal direction and the feed rate is adjusted automatically according to the burrs sizes to achieve the desired chamfer depth compliantly. The simulation experiment is carried out to verify the effectiveness of the approach. The performance of the adaptive impedance controller is compared with the conventional impedance control.

Keywords: robot deburring; force modelling; impedance control; force control; process modelling; burrs; burr size; chamfer depth; simulation.

DOI: 10.1504/IJCAT.2007.015246

International Journal of Computer Applications in Technology, 2007 Vol.29 No.2/3/4, pp.120 - 124

Published online: 30 Sep 2007 *

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