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Experiments in robotic fettling using visual feedback

Bijan Shirinzadeh (Department of Mechanical Engineering, Monash University, Clayton, Victoria, Australia)
Michael Roberts (Nissan Casting Australia Pty Ltd, Dandenong, Victoria, Australia)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 August 1998

232

Abstract

Increasingly, the laborious task of removing burrs on castings is being automated with the introduction of robots. This is largely to ensure higher level of consistency and efficiency generally not possible with manual fettling. These burrs are unpredictable in size and shape, and if not removed, can lead to major problems in automated factory lines. Fettling is an important area in advanced robotic applications. This paper presents a strategy using a compliant wrist unit to obtain forces during robotic fettling. A specialised fettling wrist unit incorporating a remote centre of compliance (RCC) unit and a CCD camera is described. Experiments are carried out to evaluate the feasibility of this method. Fettling experiments are also performed using a force/torque sensing unit. A comparison of the results of these experiments is provided. The process parameters for fettling are described and relationships among these are established.

Keywords

Citation

Shirinzadeh, B. and Roberts, M. (1998), "Experiments in robotic fettling using visual feedback", Industrial Robot, Vol. 25 No. 4, pp. 276-281. https://doi.org/10.1108/01439919810226285

Publisher

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MCB UP Ltd

Copyright © 1998, MCB UP Limited

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