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The paper aims to develop a robotic deburring method based on a new active pneumatic tool.

The paper presents a new active pneumatic tool, which is developed by integrating two industrial pneumatic deburring tools based on a double cutting action – initial cut followed by fine cut. A simple control method is developed, which coordinates the motion of the tools and the arm.

The study finds that the developed method can improve robotic deburring in terms of speed and accuracy.

The paper provides guidance for the design of a pneumatic deburring tool, its integration with an industrial robot, and robotic deburring control.

The new deburring tool prevents large contact force and bouncing from occurring during the contact transition. In addition, the developed deburring method demonstrates significant improvement in deburring speed and accuracy in comparison with other methods, which is translated into cost‐effective deburring.

The paper introduces an efficient robotic deburring method, which is developed based on a new active pneumatic tool, considers the interaction among the tool, the manipulator, and the workpiece, and couples the tool dynamics and a control design.

This paper aims to describe the development and testing of a system for the automated deburring of aero‐engine components.

The system described in this paper uses an in‐process measurement sensor to determine the component's exact location prior to the deburring operation. The core of the system is a set of algorithms capable of fitting and generating the required robot path relative to the feature to be profiled.

The paper demonstrates that with a combination of non‐contact metrology and mathematical processing standard industrial robot can be used to deburr aero engine components.

The paper introduces an efficient robotic deburring method, which is developed based on generating real‐time robotic deburring path. Reducing the reliance on part holding fixtures and the use of a laser‐guided robot ensures the developed deburring system is highly flexible and re‐configurable.

This article describes a study that has been made on the automation of deburring in a foundry. Circular castings weighing up to 20kg are deburred before delivery in order to make them fit into machining cells. The maximum production rate of the cylindrical castings on the foundry line is one casting every ten seconds. However, the castings are produced in small batches, typically ranging from 100 to 1,000. After casting and integrated sand blasting and cooling chambers, the castings are transferred further on a conveyor belt. Deburring is today done manually by lifting and pressing against different grinding and deburring machines. Bins and forklifts are used in transport and storage of castings, from production line to deburring and shipment.

Reviews the use of robotics for deburring transmission housings at ZF in Saarbrucken, Germany. Outlines a fully automated cell which has been installed for deburring and washing housings in preparation for assembly. Describes how compliant tools are used to maintain the quality of the deburred surface.

This paper aims to present a comprehensive analysis of deburring effectiveness and surface layer properties after deburring process by wire brushing from milled 7075 aluminium alloys objects. Edge states (rounding, chamfering), surface roughness around the edge, microhardness and residual stress distribution were analyzed.

During the machining process, undesirable phenomenon occurs, which is the formation of burrs at the edges of workpieces. They occur in most elements formed by machining. There are many methods that can be used for deburring, but in the case of large components, typical of aerospace industry, using certain methods becomes difficult or uneconomic. Taking advantage of the fact that a part is mounted on the machine, it is advisable to make deburring operation the last action. This operation can be carried out by wire brushing.

On the basis of conducted studies, it was demonstrated that it was possible to choose such technological brushing conditions as to ensure an effective process of deburring, form appropriate edge state and generate the desired surface layer properties.

The method presented in the article allows for efficient, automatic deburring, especially for large components made of 7075 aluminium alloy. This eliminates manual, time-consuming methods of removing burrs by locksmiths. Moreover, the results allow to evaluate changes occurring in the surface layer after brushing process.

Results of brushing experiment provide full information on selection of technological parameters to obtain the required surface roughness and edge state. Moreover, analysis of surface layer properties (microhardness, residual stress) allows to assess the degree of impact hitting fibre on the workpiece.

During the casting of steel components, burrs and other unwanted material are formed which need to be removed in the deburring process. This is usually effected manually in what is an unpleasant, monotonous, strenuous and even a dangerous task. Robotic deburring can overcome these disadvantages, but many problems must be addressed before this becomes the normal practice because of the complexity of the process. One of the major concerns in all robotic deburring applications is the time that it presently takes to program the robot. It is universally recognised that off‐line programming offers very many advantages and enormous benefits are to be gained; however, to date there are very few if any successful applications. The research being conducted at Sunderland aims to address several of the problems associated with off‐line programming of robots. Some of the problems are particular to the industrial collaborators’ robotic workcell; however, the main concern is in developing an accuracy compensation method in order that “so called” off‐line programming software can be applied.

The purpose of the article is to investigate the influence of deburring by wire brushing upon states of magnesium alloy edges.

AZ91HP and AZ31 magnesium alloy samples were machined with the use of recommended, catalog milling parameters. Burrs formed at the edges after milling were removed by brushing. Three different kinds of brushes were tested. Edge states (values of edge radius) after wire brushing were specified. Surface roughness was measured near the brushed edges.

Experimental results show that wire brushing is an efficient deburring method, which can be fully automated on machining centers. Depending on the requirements, specific values of edge radius as well as surface roughness may be obtained.

The article will help technological process designers select tools for deburring after milling of magnesium alloys.

The paper presents the automated deburring method which can provide the required edge radius of aerospace components.

The main objective of this paper is to report the development of an indirect force control strategy designed to operate with industrial robotic deburring applications. More specifically, the system reported here is developed to debur high‐quality knives that incorporate innovative design from well‐known authors (fashion designers). Therefore, these products are very difficult to manufacture and have quality requirements incompatible with human‐based deburring, since humans introduce too many unacceptable deviations as a consequence of their incapacity to maintain concentration for long periods of time.

Since a good model of the environment is difficult to obtain, namely on industrial applications, a simple strategy was designed to obtain the relevant parameters leading to an acceptable performance. Consequently, the system implements an indirect force control strategy as a way to use actual robot controllers, explore the computing power of external personal computers, and the advanced features of modern force‐torque sensors. The proposed strategy is presented in some detail and further discussed using a few test‐case experiments.

Experiments show a usable setup for contour following which is very useful to obtain the work‐piece profile. A good selection of the path step seems to be, as expected, one of the most important variables to achieve good results: the smaller the increment over the trajectory the more regular is the resulting force profile. Low speeds also seem to lead to better results. The strategy implemented to maintain contact with the object and keep contact force at a certain level seems to result over surfaces with a smooth and large radius continuity, although there are significant force variations on impact with objects (which is not important since impacts can be planned), especially at the higher speeds, and even more significant near object edges. The desired contact force is also a parameter that should be tested. In the presented experiments, a contact force of 10 N was selected and oscillations of 1 N were observed around this value. In an industrial environment, more exposed to noise and vibrations, a higher contact force may be required. On the other hand, the increase of the contact force also increases the flexion of the sensing tool what brings more uncertainty to the calculated contact point. Large force oscillations imply more uncertainty of the obtained work‐piece contour. Like in any industrial process selected parameters are the ones that show acceptable results at higher execution speeds.

The objective of the presented setup is to find the better compromise for a particular industrial application, achieving acceptable operational cycle times.

The obtained results are encouraging and the ability to perform contour recognition under a specified contact force can be very useful with the automatic deburring system being developed. In fact, this feature enables the system to acquire the exact contour of the working piece in the exact same conditions that will be used for the subsequent deburring task. This will contribute to minimize error and increase the process speed.

At the IPA work has been carried out into improving the quality and programming of robotic deburring using integrated sensors.