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Han-Hao Tsai Yu-Chih Lin Jen-Yuan (James) Chang

Abstract

This paper introduces an innovative automated robotic deburring approach, harnessing the capabilities of an active force-controlled end-effector in conjunction with a change-point algorithm. Human-led deburring process remains an indispensable operation even though it demands substantial time and cost. This significance is especially pronounced within the domain of aviation parts, where the presence of burrs can exert a profound influence on overall aerodynamic performance. Consequently, integration of robotic deburring has emerged as a viable substitute for labor-intensive manual procedures. Nevertheless, the inherent lack of stiffness in robotic arms often leads to challenges such as overcutting and unwanted vibrations, subsequently adversely affecting the surface finish of workpieces. To address these formidable problems, a one-degree-of-freedom active end-effector has been meticulously engineered, enabling the precise resolution of force-induced vibrations and overcutting problems through targeted force control in the normal direction. Furthermore, the issue of chattering has been effectively mitigated through the seamless incorporation of changepoint algorithm in the tangential direction. The proposed deburring algorithm has been verified through calibrated experiments, with results showing that surface profile variations for workpieces are four times smaller, underscoring its superior performance compared to the traditional position control method. Moreover, high-frequency force vibrations are effectively constrained within a range of ±1 N with the proposed method, and the moving average confirms the controller's ability to maintain stability and robustness, ensuring a consistent force control outcome.

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Keywords

Automated robotic deburring, Active force-controlled end-effector, Changepoint algorithm

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