视觉辅助铸件中边缘毛刺的机器人去毛刺

视觉辅助铸件中边缘毛刺的机器人去毛刺(中文4500字,英文3000字)
Leo Princely Fa，*，Selvaraj Tb
aResearch Scholar，国家技术研究所生产工程系，Trichrappalli- 620015，泰米尔纳德邦，印度b教授，国家技术研究所生产工程系，Trichrappalli- 620015，泰米尔纳德邦，印度
摘要：
 在当今的批量生产方案中，为每批次编程去毛刺机器人所花费的时间是该行业中主要关注的问题之一。在批量生产场景中，去毛刺机器人由操作员通过所谓的“示教”或“离线”编程方法编程，并且需要更昂贵的工作保持装置。这两种方法都具有相关的缺点，例如高编程时间，特别是当每批工件具有不同的形状时。而且离线方法不能携带真实工件的信息。在本文中，提出了一种视觉引导机器人系统（VGRS）方法，用于去除工件去毛刺以消除“示教”或“离线”编程方法的弱点。在该提出的系统中，为每个工件获取二维工件的形状，并且从工件形状数据和精加工条件数据自动生成机器人语言程序。通过使用机器人系统的实验验证了所提出的方法。该方法提供了紧凑且廉价的精加工机器人系统，其减少了编程时间。

Vision Assisted Robotic Deburring of Edge Burrs in Cast Parts
Leo Princely Fa,*,Selvaraj Tb
aResearch Scholar,Department of Production Engineering, National Institute of Technology, Trichrappalli- 620015 , Tamil Nadu, India  bProfessor,Department of Production Engineering, National Institute of Technology, Trichrappalli- 620015 , Tamil Nadu, India
Abstract
 In the present day batch production scenario the time taken to program the deburring robot for each batch is one of the major  concerns in the industry. In the batch production scenario deburring robots are programmed by operators via so-called "Teach" or  "Offline" programming methodologies and require costlier work holding devices. Both these methodologies have associated  weaknesses like a high programming time especially when each batch of workpiece has a different shape. Moreover offline  methodology cannot carry information of the real work piece. In this paper, a Vision-Guided Robotic System (VGRS)  methodology for the deburring of workpieces to eliminate the weakness of "Teach" or "Offline" programming methodologies is  proposed. In this proposed system the shape of two-dimensional workpiece is acquired for each workpiece and the robot- language program is generated automatically from the workpiece shape data and finishing condition data. The proposed method  is verified by experiments using the robot system. This method provides a compact and inexpensive finishing robot system which  reduces the programming time.