Title

Multidirectional Compliance and Constraint for Improved Robotic Deburring. Part 1: Improved Positioning

Document Type

Article

Language

eng

Format of Original

10 p.

Publication Date

8-2001

Publisher

Elsevier

Source Publication

Robotics and Computer-Integrated Manufacturing

Source ISSN

0736-5845

Original Item ID

doi: 10.1016/S0736-5845(00)00059-4

Abstract

This two-part paper presents a method for both improving the positioning capability and increasing the effective stiffness (bracing) of a robotic manipulator through multidirectional compliance and constraint. Improved relative positioning and increased stiffness are obtained through the use of: (1) an end-effector mounted jig capable of establishing a workpart-based reference frame through multipoint contact with the workpart, and (2) a manipulator compliance designed to provide a specified form of directional coupling in its mapping of forces to deflections. The directional coupling in the compliance is shown to be important in establishing multipoint contact (during insertion) and in maintaining contact (while edge tracking) despite finite positional errors. Improved manipulator positioning is demonstrated in the context of workpart edge deburring.

Comments

Robotics and Computer-Integrated Manufacturing, Vol. 17, No. 4 (August 2001): 277-286. DOI.