Experiments in robotic fettling using visual feedback

Abstract

Increasingly, the laborious task of removing burrs on castings is being automated with the introduction of robots. This is largely to ensure higher level of consistency and efficiency generally not possible with manual fettling. These burrs are unpredictable in size and shape, and if not removed, can lead to major problems in automated factory lines. Fettling is an important area in advanced robotic applications. This paper presents a strategy using a compliant wrist unit to obtain forces during robotic fettling. A specialised fettling wrist unit incorporating a remote centre of compliance (RCC) unit and a CCD camera is described. Experiments are carried out to evaluate the feasibility of this method. Fettling experiments are also performed using a force/torque sensing unit. A comparison of the results of these experiments is provided. The process parameters for fettling are described and relationships among these are established.

Validation and mathematical model of workspace Measuring and Positioning System as an integrated metrology system for improving industrial robot positioning

“…5 This lack of accuracy has limited the usage of the robot in many fields such as automotive, aerospace and aeronautics, moulds and die, and high-precision components. [6][7][8][9][10] Aiming at pioneering a new generation of adaptive production systems, 11,12 the European Unionfunded research program COMET (COMET Project-Plug and Produce COMponents and METhods for adaptive control of industrial robots enabling cost-effective, high-precision manufacturing in factories of the future) has listed the three most critical limitations currently preventing the use of robots in typical machining applications, the first being is the lack of absolute positioning accuracy. 8,13 Large-volume metrology systems [14][15][16][17] with which robots can integrate provide numerous alternatives for improving absolute positioning accuracy in robotic workcells, that is, transferring the accuracy problem to the integrated metrology system, 18 as opposed to simply making use of calibration procedures.…”