| Deburring is a manufacturing operation which inevitably cannot be totally eliminated. Every sharp edge of a piece has burrs. Burrs can be moved, minimized, but not eliminated. Most of the known manufacturing processes generate waste material clinging to the part that should get rid of.;However, the deburring is too often overlooked or little effort is made to improve it. On the other side, some high technology areas like aerospace have high value part to deburr. Then there is a great interest in improving the operation to ensure product quality until the last operation, especially when it comes to precision deburring. Automation is a good way to control processes. In this project, the solution for the automation is robotic deburring.;Robotic has so far been designed to perform repeatable and imprecise task and is more efficient for large production volumes. This thesis explores the use of force sensing to compensate robot imprecision and perform accurate tasks with the adaptability of force control. It also proposes to use versatility of robot to perform various deburring tasks and meets the needs of low production volume in the aeronautical sector.;Finally, robotic deburring results are presented following the development of generic processes for deburring. These results demonstrate the ability of a robot equipped with a force control to achieve precision deburring operations. |
