유연 공구 홀더를 가진 다관절 매니퓰레이터 로봇을 이용한 디버링 시스템 개발

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.