원문정보
초록
영어
A deburring system using the joint of revolute robot manipulator with a tool holder was developed for deburring automation. The tool holder composed of the plunger with spring was developed for freedom of three degree operation. The tool holder was applied for compensation of position errors during trajectory tracing or deburring the workpiece of ununiform. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was developed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis. In this paper, using the deburring system attached at the revolute robot manipulator, deburring experiments were performed. According to the experimental results, the good performance of the proposed deburring system using the revolute robot manipulator was shown.
목차
1. 서론
2. 다축 로봇 팔의 모델링
2.1 다축 로봇 팔의 D-H 규약에 의한 좌표 설정
2.2 다축 로봇의 미끄럼 공간에서의 모델링
3. Flexible Tool Holder 모델링
3. Flexible Tool Holder의 구성 및 모델링
4. 로봇 디버링 실험 및 고찰
4.1 디버링 가공이론
4.2 디버링 제어시스템 구성
4.3 Flexible Tool Holder 적용 실험
4.4 실험 결과 및 고찰
5. 결론
References