Automated Tool Trajectory Generation for Robotized Deburring of Cast Parts Based on 3D Scans

Onstein, Ingrid Fjordheim; Bjerkeng, Magnus; Martinsen, Kristian

doi:10.1016/j.procir.2023.06.087

Cited by 5 publications

(2 citation statements)

References 8 publications

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“…In addition to the above-mentioned industrial robot applications, there are also others, such as more complex robot machining [7] or milling [8], deburring [9], surface finishing [10], grinding [11], polishing [12,13], hammer-peening [14,15], etc. An excellent review of the state-of-the-art and the perspectives on the use of industrial robots in mechanical machining processes is presented in [16].…”

Section: Introductionmentioning

confidence: 99%

Toward Optimal Robot Machining Considering the Workpiece Surface Geometry in a Task-Oriented Approach

Hace

2024

Mathematics

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Robot workpiece machining is interesting in industry as it offers some advantages, such as higher flexibility in comparison with the conventional approach based on CNC technology. However, in recent years, we have been facing a strong progressive shift to custom-based manufacturing and low-volume/high-mix production, which require a novel approach to automation via the employment of collaborative robotics. However, collaborative robots feature only limited motion capability to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the workpiece surface constraint in the robot kinematic analysis, which enables an evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot’s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

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Section: Introductionmentioning

confidence: 99%

Toward Optimal Robot Machining Considering the Workpiece Surface Geometry in a Task-Oriented Approach

Hace

2024

Mathematics

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“…Manual scanning performed by several people is different even if the procedures are standardized, and in applications requiring a high degree of accuracy and repeatability, this leads to measurement variations. In order to scan more sports shoes, automation minimizes a lot of repetitive work performed by the human factor (i.e., manually performing the scanning procedures, which can become tiring for the human factor) [8,9].…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematics Proposal to Automatize the 3D Scanning of Handball Shoes by Using a Robotic Arm with 3 Actuated Joints

Pancu,

Șuteu,

Vesselenyi

et al. 2023

Applied Sciences

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The purpose of this paper is to present a procedure for automating the scanning process based on a mathematical model for a handheld 3D scanner for shoes used in some indoor sports. The study aims to use inverse kinematics to automate 3d footwear scanning used for indoor sport (handball) using a robotic arm with three joints. A modeling of the robotic arm and final effector was performed, to simulate the minimum and maximum trajectory of the robot arm according to the angles shown based on the mathematical model and inverse kinematics. With an easy-to-use interface and ergonomic design, this 3D scanning solution offers the versatility to scan various objects (such as scanning two shoe models used in indoor sports) and complex surface types. This scanning manner represents the state of the art of 3D scanning solutions as well as a benchmark in the 3D measurement equipment industry. The data obtained as a result of this research provide new directions and solutions for sports shoe scanning for indoor sports based on scanning trajectories preset by inverse kinematics in order to automate the scanning process using a handheld 3D scanner. Based on the mathematical model presented in the paper, automation of the scanning process can be achieved by maintaining the proposed trajectory using an automated arm operating through a control program that can be run on a simple controller.

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The Influence of Shot Peening and Brushing on the Deburring Effectiveness and Surface Layer Properties of 1.0503 Steel

Matuszak,

Ciecieląg,

Skoczylas

et al. 2024

Lecture Notes in Mechanical Engineering

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Automated Tool Trajectory Generation for Robotized Deburring of Cast Parts Based on 3D Scans

Cited by 5 publications

References 8 publications

Toward Optimal Robot Machining Considering the Workpiece Surface Geometry in a Task-Oriented Approach

Toward Optimal Robot Machining Considering the Workpiece Surface Geometry in a Task-Oriented Approach

Inverse Kinematics Proposal to Automatize the 3D Scanning of Handball Shoes by Using a Robotic Arm with 3 Actuated Joints

The Influence of Shot Peening and Brushing on the Deburring Effectiveness and Surface Layer Properties of 1.0503 Steel

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