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By daigai
#1034479 Link tải luận văn miễn phí cho ae Kết Nối
yo-Onoda 756-0884, Jap
Email: [email protected], otsuka [email protected]
Okayama University, Okayama 700-8530, Japan
Email: [email protected]
Abstract—A cast metal is generally produced by using a sand
mold. A foamed polystyrene mold is used as the master mold for
making the corresponding sand mold. Recently, the development
of a flexible machining robot for foamed polystyrene materials is
expected in the cast metal industries because of the high cost and
inefficiency of conventional large-sized CNC machine tools. In this
paper, a machining robot based on an industrial robot is proposed
for foamed polystyrene materials. A compact and light weight tool
is developed and attached to the arm tip. Also, the robot has a
novel robotic CAM system from the view point of teachingless
operation. The proposed CAM system performs the basic function
which enables the robot arm to follow not only numerical control
data (NC data) but also cutter location data (CL data) consisting
of position and normal direction vectors. The developed robotic
CAM system provides a simple interface without using any robot
languages between a well-known CAD/CAM system and the
robot arm RV1A. The basic design of the machining robot using
the robotic CAM system is presented for foamed polystyrene
Articulated Industrial robots have made remarkable
progress and been applied to many manufacturing processes
such as handling, welding, painting, assembling, polishing
and so forth [1]. Teachingless operation has been one of the
most desired application for industrial robots. For example,
Izumi et al. developed a teachingless grinding robot that can
sense grinding torque and grinding force acting on grinding
wheel [2]. Liu et al. proposed contour following method and
teachingless machining method for an Industrial Robot [3].
Also, Asakawa and Takeuchi developed an automatic spray
painting system by using a six-DOF industrial robot equipped
with an air spray gun, which aimed at generating robot
control commands without any special knowledge on spray
painting [4]. Nagao et al. developed a welding robot system
for large box structures and put to practical use to auto
mate welding process and to reduce labor requirements. The
robot automatically generated the robot operation data, i.e.,
the robot language codes, based on the design information
from a three-dimensional CAD model without the need for
conventional teaching by a skilled operator [5]. Further, Neto et
al. presented a CAD-based system to directly program a robot
from a 3D CAD model, which enables users with basic CAD
skills to generate robot programs off-line, without stopping
robot production [6]. Furthermore, Chen and Xi presented a
robot tool trajectory connection method for a spray forming
process, in which the CAD model of a part, a tool model,
Sanding robot Polishing robot
Fig. 1. Already developed sanding robot for wooden parts and polishing
robot for aluminum molds.
given constraints and criteria are used [7]. The authors also
developed a sanding robot for wooden parts [8] and a polishing
robot for aluminum molds [9] as shown in Fig. 1, in which
the desired position and orientation of the tool was controlled
based on cutter location data. Pan et al. reviewed the recent
research progresses on the programming methods for industrial
robots, in which online programming, offline programming,
programming using augmented reality, and future direction
of robot programming were described [10]. However, robotic
CAM system for industrial robots has not been discussed and
developed as CNC machine tools widely used in industry.
Matsuoka et al. proposed the direct end milling system
using an articulated industrial robot for the machining process
of aluminum building materials [11]. The most important
function of this approach was using an end mill with a small
diameter and a high-speed spindle to be able to reduce the
cutting force in order to reduce the effect of the low stiffness
of the robot. Andersson and Johansson proposed a control
method for the wood carving process [12] . The method
improved the robot control performance and supported simpler
programming due to using an industrial robot with a wrist
mounted force/torque sensor. However, few robots have been
applied to machining process using an end mill in industrial
fields because CNC machine tools are superior in terms of
the applicability to metallic materials and the accuracy after
machining [13].
In this paper, at first, a simple and straightforward CAM
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