Multidirectional Compliance and Constraint for Improved Robotic Deburring. Part 1: Improved Positioning
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Robotics and Computer-Integrated Manufacturing
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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.