Deburring steel with a robot 2

Robot.Si · Oct 2, 2017

Hello to all.

I have a Yaskawa robot which deburrs steel parts. Currently I am using an angle grinder on a robot with a thick grinding disc. Before I start with a deburring I measure a part and then start with deburring operation. The problems occurs, when there is too much material on an edge and the angle grinder is not able to remove it. Robot has a constant speed and in that case it breakes the disc, because it is overloaded.

I don´t have any other measuring device on the robot. Now I am wondering how would a force sensor work in this case?
Does any of you have any experience with the force sensor on a robot?

Thank you for a reply.

Kind regards,
Tilen

SwinnyGG · Oct 2, 2017

The behavior that you're describing- whereby the robot will slow down based on load on the arm actively at any point on a path, is a complicated one.

The short answer is: call Yaskawa.

Robot.Si · Oct 3, 2017

Hi.

Thank you for your answer.

The integrator from Yaskawa knows about this problem and we are working together on it. We tried so many different possibilities and non of them work. The only one that is conditionally acceptable is that we slow down the robot movement significantly. But this means too long cycle time.

I read that this could be solved with a force control. Unfortunately Yaskawa doesn´t have their force control solution as Fanuc, ABB or Kuka have or does it?

Kind regrads
Tilen

SwinnyGG · Oct 3, 2017

Robot.Si said:
Unfortunately Yaskawa doesn´t have their force control solution as Fanuc, ABB or Kuka have or does it?

I didn't say you should call a Yaskawa integrator.. I said you should call Yaskawa.

The company most likely to be able to fill you in on specific details of Yaskawa's end effector force control system, and what it is capable of is... drumroll..... Yaskawa.

GregLocock · Oct 3, 2017

One other approach would be to measure the current in the angle grinder (if electric), and then use that to switch to a slow speed program in the robot, assuming it has digital sensor input channels.

Cheers

Greg Locock

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Robot.Si · Oct 4, 2017

Hi.

Thanks jgKRI and GregLocock for replys.

KR

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