Robotic deburring system using machine vision | |
| Author | Chang, Huei-hong |
| Call Number | AIT Thesis no.ISE-03-07 |
| Subject(s) | Robot vision Deburring Grinding and polishing |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-03-07 |
| Abstract | Industrial robots have achieved its mature stage and have performed its sophisticated functions in many applications to replace the traditional manual productive methodologies. Its flexibility and precision in enhancing finishing quality of goods are certainly regarded as the greatest improvement to the efficiency of mass-production. Robots are widely used in welding, assembly and spraying tasks, which requires high precision and repeatable process. However, the application of robot in deburring is not yet common due to the tedious reprogramming of controller. This project hence implements the basic concept of Robotic deburring to carry out an experimental deburring task. The contents present an introduction to the automation of the finishing and deburring of Aluminum blocks in an integrated robotic workcell created with the KUKA KR.15 industrial robot and the DVT system. The robot arm will perform tasks of transpo1ting Aluminum block from the Feeder to the clamping tool and the CCD camera unit will grab images of the block for inspection to locate the positions of the burrs. If there is no burr found, the block is then removed to the collector. If there are burrs detected, the robot then changes to the grinding tool and traverses to the position of detected burrs to cany out deburring. As soon as the first burr is removed, the CCD camera will be triggered again to locate the next bun·. The grinding process will run in loops till all burrs on the surface of.the aluminum block are removed. Once the quality is accepted, the aluminum block will be removed from clamping tool and placed in the collector |
| Year | 2003 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-03-07 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Manukid Parnichkun; Rajapakse, Athula; |
| Scholarship Donor(s) | Asian Institute of Technology (Partial Scholarship); |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2003 |