Research On Robot Deburring Path Generation Through Constant Force Control

Many machining methods produce burrs, which lower the quality and reduce the performance of machine parts. While removing the burrs, the cutters are required to follow the contours precisely in order to keep a good contact with the parts. Traditional manual operation, which usually requires too many labors and takes too much time, hardly meets the needs of modern manufacturing. Therefore, robotics as well as other automation technology are widely taken into account in order to generate a reasonable trajectory during the deburring process. Issues with respect to how to deal with various workpieces forms an important research topic to carry out robot deburring quickly and accurately.Blank margins and clamping errors may heavily impede the deburring process. In order to reduce the effect, an online trajectory generation method concerning force information is developed in this paper. Basing on an analysis to the characteristics of burrs, cutting normal constant force control strategy with impedance control model applied is proposed and is applied to the generation of the deburring trajectory. After that, the experimental research of the deburring for an EPS motor shell is carried out.Firstly, the background and significance of the research are introduced; with the methods and research status of robot deburring trajectory generation reviewed especially the sensor based method. Framework and main contents of the paper are also proposed.Secondly, cutting normal constant force control strategy is proposed according to burr characteristics and deburring cutting force property. In order to realize the dynamic tracking of the cutting tool on the workpieces, cutting normal constant force control strategy is established based on impedance control model.Thirdly, a robot deburring trajectory generation method which is based on normal force control strategy is proposed. For machine parts with large blank margins and clamping errors, a six-axis force sensor is used to obtain the cutting force in three dimensions. Consequently, the deburring trajectory generation method, which is based on impedance control model, is established.Lastly, a robot deburring experimental platform is established. An orthogonal experiment of cutting force model based on cutting parameters is designed following the experimental research of the robot deburring for an EPS motor shell. The feasibility and effectiveness of the robot deburring trajectory generation method proposed is also verified.