Abstract
Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.
Highlights
Industrial robotics with advanced technology for the industrial automation field has received considerable attention in recent years [1,2,3,4,5,6]
Industrial robotics are being widely adopted in the robotic machining applications
In the first robotic deburring experiment, a disc deburring for an automobile hub was conducted on the experimental platform of the robot manipulator
Summary
Industrial robotics with advanced technology for the industrial automation field has received considerable attention in recent years [1,2,3,4,5,6]. A vision-based approach, a Pythagorean hodograph quintic spline interpolator based on S curve acceleration/deceleration and an integrated process control structure consisting of an adaptive disturbance compensator, a sliding mode controller, and a friction compensator were investigated for force control and contour following in industrial applications such as deburring [36]. These studies of tool path adaptation and process parameter control for robotic deburring are usually conducted on one or more traditional and commercial six-DOF serial industrial robot manipulators.
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