On-line path generation for robotic deburring of cast aluminum wheels

Abstract

Cast aluminum wheels must be deburred and polished before chrome plating operation. Manual deburring and polishing is tedious and monotonous. Industrial robots are attracting more and more attention for the deburring applications. However, Each wheel path program was taking eight to ten weeks to create because the position and orientation of the deburring tool must be accurately identified based on the curvature of the wheel. To solve this problem, we developed a practical 6 DOF robot path generation method using hybrid force and visual servoing methodology. The force servoing keeps the robot tool continuously contacting with the wheel surface and the visual servoing controls the robot tool to follow a marked tool path on the wheel while the position and orientation are controlled and recorded. A robot path is then generated from the recorded data. Experiments are performed and the experimental results demonstrate that the developed algorithm can be used to automatically generate accurate 6 DOF robot paths for deburring aluminum wheels in less than an hour. This significantly reduces the robot programming time. The developed technology can also be used for robot path generation in many other manufacturing applications, such as welding and strip painting. © 2006 IEEE.