한국해양대학교

Detailed Information

Metadata Downloads

유연 공구 홀더를 가진 다관절 매니퓰레이터 로봇을 이용한 디버링 시스템 개발

Title
유연 공구 홀더를 가진 다관절 매니퓰레이터 로봇을 이용한 디버링 시스템 개발
Alternative Title
The Development of Deburring System using the Revolute-jointed Robot Manipulator with the Flexible Tool Holder
Author(s)
정경식
Publication Year
2004
Publisher
한국해양대학교 대학원
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002175636
http://repository.kmou.ac.kr/handle/2014.oak/9890
Abstract
In this paper, a deburring system using the revolute-jointed robot manipulator with a flexible tool holder was developed for deburring automation. The flexible tool holder composed of the plunger with spring was developed for three degree-of-freedom operation. The flexible tool holder was applied for compensation of position errors during trajectory tracing or deburring ununiform workpiece. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was designed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis.

In this thesis, using the deburring system and accessories of the deburring system, deburring experiments were performed. According to the experimental results, the capability of good deburring operation using the revolute-jointed manipulator robot was shown.
Appears in Collections:
기계공학과 > Thesis
Files in This Item:
000002175636.pdf Download

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Browse