Abstract
The studay deals with the automatic chamfering for the case of a machined hole on a cylinder on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The chamfering path based on the CAD data is generated by our own CAM system. The CAM system considers not only the tool attitude but also the robot attitude to avoid deviation of the robot movement range. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a cylindrical metallic workpiece.
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