System architecture and edge tracking performance of an automated robotic deburring workcell

This paper presents the system architecture and performance of a robotic workcell capable of deburring used components. Such a workcell should possess the ability to automatically probe, reconstruct the surface geometry, determine the tool path for further machining, and finally carry out edge finishing. The robot chosen is YAMAHA Zeta-1 robot designed specifically for deburring. Probing is accomplished by means of a displacement sensor. This obviates the need for an additional probing stage in the process. The workcell controller has an information processing part consisting of a PC-parallel processor network, an interface to communicate with the controller of the deburring robot and a hardware interface for the probe. The surface of the workpiece is probed by the robot, directed along a path prescribed by the PC-parallel processor network, based on the original CAD database. The probed points, thus collected are used to reconstruct the surface probed and extrapolate to obtain the edge profile. The tool path constructed from the edge profile is then used to direct the robot during machining. Results of edge tracking of a saddle surface in three dimensions is presented. The geometric tacking error is found to be within the resolution of the command signals (0.063 mm)