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Robotic Deburring Based on On-line Burr Measurement

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Burrs - Analysis, Control and Removal

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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.

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Author information

Authors and Affiliations

  1. Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, M5B 2K3, Toronto, Canada

    L. Liao & F. Xi

  2. Pratt & Whitney Canada Corp., 1000 Marie-Victorin, Longueuil, J4G 1A1, Quebec, Canada

    S. Engin

Authors
  1. L. Liao
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  2. F. Xi
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  3. S. Engin
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Editor information

Editors and Affiliations

  1. LS für Fertigungstechnik und, TU Kaiserslautern, Gottlieb-Daimler-Str., Kaiserslautern, 67663, Germany

    Jan C. Aurich

  2. Mechanical Engineering Dept., University of California, Berkeley, Etcheverry Hall 5100A, Berkeley, 94720-1740, U.S.A.

    David Dornfeld

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© 2010 Springer-Verlag Berlin Heidelberg

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Liao, L., Xi, F., Engin, S. (2010). Robotic Deburring Based on On-line Burr Measurement. In: Aurich, J., Dornfeld, D. (eds) Burrs - Analysis, Control and Removal. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00568-8_23

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  • DOI: https://doi.org/10.1007/978-3-642-00568-8_23

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00567-1

  • Online ISBN: 978-3-642-00568-8

  • eBook Packages: EngineeringEngineering (R0)

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