Prototyping an Industrial Robot Arm for Deburring in Machining

Year 2020, Volume: 8 Issue: 2, 304 - 309, 26.05.2020

Yusuf Hamida El Naser Gökhan Atalı Durmuş Karayel Sinan Serdar Özkan

https://doi.org/10.21541/apjes.601867

Abstract

Deburring after production is an important problem for machining, casting and plastic forming in the manufacturing sector. The main subject of this study is to design a deburring robot arm. In the study, deburring operation has been performed by integrating a deburring tool at the end of the robot arm. To control the trajectory of deburring tool and optimum deburring force are two critical situations in such a special robot arm design. Since the parts that need to be cleaned are often not of uniform geometry and so the distribution of the burr and trajectory of robot arm will not uniform. Therefore, the robot arm that can follow this trajectory must have enough degrees of freedom. On the other hand, the cutting force between the deburring tool and the work piece and the magnitude of the normal force is also important. This force must be small so that it will not affect the structural rigidity of the arm and not damage the part and at the same time it must be big enough for deburring. This robot arm designed for deburring can also be used for industrial purposes when parameters are changed.

Keywords

Robot arm, Deburring, Machining

Supporting Institution

Sakarya University

Project Number

2017-50-01-009

Thanks

This study was supported by Sakarya University Scientific Research Projects Commission with the name “Industrial Purpose Robot Arm Design and Production” within the scope of Master Thesis Projects numbered 2017-50-01-009.

Talaşlı İmalatta Çapakların Giderilmesi için Endüstriyel Robot Kol Prototiplemesi

Abstract

İmalat sektöründe gerek talaşlı imalat, gerekse döküm ve plastik şekil verme işlemlerinde üretim sonrası çapağın temizlenmesi önemli bir problemdir. Bu çalışmanın ana konusu çapak temizleyici bir robot kolun tasarlanmasıdır. Çalışmada bu işlem robot kolun uç kısmına çapak temizleyici entegre edilerek gerçekleştirilmektedir. Bu çalışmaya özel robot kol tasarımında, çapak temizleyicinin izleyeceği yörüngenin ve temizlemeye uygun kuvvetin kontrol edilebilmesi iki kritik durumdur. Temizlenmesi gereken parçalar çoğu zaman düzgün geometride olmayacağından çapağın dağılımı ve dolayısıyla robotun hareket yörüngesi de düzgün olmayacaktır. Bu nedenle bu yörüngeyi izleyebilecek robot kolun da yeterli serbestlik derecesine sahip olması gerekmektedir. Diğer taraftan çapak temizleyiciyle iş parçası arasında oluşan kesme kuvveti ve normal kuvvetin büyüklüğü de çok önemlidir. Zira bu kuvvetin robot kolun yapısal rijitliğini etkilemeyecek ve parçaya zarar vermeyecek kadar küçük, diğer taraftan çapağı temizlemeye yetecek kadar da büyük olması gerekmektedir. Çapak temizleme amaçlı olarak tasarlanan bu robot kol bir prototip olmakla birlikte, parametreler değiştirildiğinde endüstriyel amaçlar içinde kullanılabilecek niteliktedir.

Keywords

Robot arm, Deburring, Machining

Project Number

2017-50-01-009

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