Process automation is a more and more referred solution when it cornes to complex, tedious or even dangerous tasks for human. Flexibility, low cost and compactness make industrial robots very attractive for automation. Even if many developments have been made to enhance robot's performances, they still can not meet sorne industries requirements. For instance, aerospace industry requires very tight tolerances on a large variety of parts, which is
not what robots were designed for at first.
When it cornes to robotic deburring, robot imprecision is a major problem that needs to be addressed be fore it can be implemented in production. This mas ter' s the sis explores different calibration techniques for robot' s dimensions that could overcome the problem and make the robotic deburring application possible. Sorne calibration techniques that are easy to implement in production environment are simulated and compared. A calibration technique for tool' s dimensions is simulated and implemented to evaluate its potential. The most efficient technique will be used within the application.
Finally, the production environment and requirements are explained. The remammg imprecision will be compensated by the use of a force/torque sensor integrated with the robot' s controller and by the use of a camera. Many tests are made to define the best parameters to use to deburr a specific feature on a chosen part. Concluding tests are shown and demonstrate the potential use of robotic deburring.
| Date | 5 May 2010 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Maarouf Saad (Supervisor) |
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Mailhot, D. (Author),
Saad (Supervisor),
5 May 2010Student thesis: Master's thesis › Master in Engineering: Electrical Engineering