On force control for assembly and deburring of castings
2013 (English)In: Production Engineering, ISSN 0944-6524 (print), 1863-7353 (online), Vol. 7, no 4, 351-360 p.Article in journal (Refereed) Published
Traditional industrial robots have problems interacting with an uncalibrated, ill-dened environment where part geometry and position may vary. Active force control technology has therefore been suggested as a solution to add the extra sensory dimension needed to handle manufacturing tasks like assembly and deburring. The technology is proposed to give increased exibility compared to other solutions and force control systems are available commercially. Active force control installations however, are is still uncommon in industry. This paper presents two cases of force control applications; assembly of a compliant carbon ber structure and deburring/cleaning of iron castings. Based on these two cases, some issues are raised on how the technology can be further developed to t the industrial setting, and the proposed benets are re-examined and refined. The two cases show that programming, parameter setting and ease of use are critical components in lowering the industrial threshold, together with increased possibilities of application-specic compensation and filtering. Force control does however, show great potential in increasing the boundaries for variance in product and equipment like grippers and xtures as well as decreasing the need for calibration of for example virtual models used for programming compared to traditional automated solutions.
Place, publisher, year, edition, pages
Springer, 2013. Vol. 7, no 4, 351-360 p.
Industrial robotics Machining Debur- ring Force Control Assembly
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-88174DOI: 10.1007/s11740-013-0459-1OAI: oai:DiVA.org:liu-88174DiVA: diva2:601921