Stiffness-Based Cell Setup Optimization for Robotic Deburring with a Rotary Table

Abstract

Deburring is recognized as an ideal technology for robotic automation. However, since the low stiffness of the robot can affect the deburring quality and the performance of an industrial robot is generally inhomogeneous over its workspace, a cell setup must be found that allows the robot to track the toolpath with the desired performance. In this work, the problems of robotic deburring are addressed by integrating components commonly used in the machining industry. A rotary table is integrated with the robotic deburring cell to increase the effective reach of the robot and enable it to machine a large workpiece. A genetic algorithm (GA) is used to optimize the placement of the workpiece based on the stiffness of the robot, and a local minimizer is used to maximize the stiffness of the robot along the deburring toolpath. During cutting motions, small table rotations are allowed so that the robot maintains high stiffness, and during non-cutting motions, large table rotations are allowed to reposition the workpiece. The stiffness of the robot is modeled by an artificial neural network (ANN). The results confirm the need to optimize the cell setup, since many optimizers cannot track the toolpath, while for the successful optimizers, a performance imbalance occurs along the toolpath.

Automation of the Edge Deburring Process and Analysis of the Impact of Selected Parameters on Forces and Moments Induced during the Process

“…Laser trackers were used as an alternative to force control in order to track the required path of the robot, which led to an increase in machining accuracy [26]. Work was also carried out to optimize the deburring process in relation to the structural stiffness of the robot used [27]. The authors of [28] describe the process of optimizing the parameters in the process of belt grinding and deburring steel according to the surface roughness and material removal rate.…”

“…Considering the multitude of studies, it was decided to prepare a laboratory stand in order to verify the feasibility of brushing the blades produced for the needs of modern jet engines. The analyzed works related to the optimization of the deburring process [23][24][25][26][27] indicate that in order to carry out the process of optimizing the brushing operation, it is necessary to determine the key parameters of the process and then to understand their mutual interaction. In addition, due to the unique pair of materials associated with each other (work piece material and brush material), it was necessary to carry out a number of tests to understand the interaction of process parameters, such as time, rotational speed, and brush infeed, with the work piece.…”