Influence of Compliance on Performance of Robotic Drilling

摘要

Experiments forming part of an investigation into telerobotic drilling within anuclear contaminated environment, which is reported to cause excessive drill wear and operator fatigue, are reported. The vibrations present during robotic drilling due to the many sources of compliance present in the system were investigated. The experimental method and equipment are described. Low cycle impact and increase in cutting time are discussed. Strain rate curve for steel, brass, aluminum, and copper are presented and discussed. The effect of hung mass and symptoms of impact wear are discussed. The main conclusions are that compliant drilling can cause low cycle impact and hence can generate impact wear, and that the cutting time is significantly increased by the presence of compliance.