Automation of chamfering by industrial robot: for the case of hole on a free curved surface

摘要

The study deals with the automatic chamfering for the case of hole on a free curved surface on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering pat h is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a workpiece with free curved surface.