Pneumatic Driven Device for Integration into Robotic Finishing Applications

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Paulo Abreu (Autor) FEUP; Manuel Rodrigues Quintas (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOTICS IN SMART MANUFACTURING

Páginas: 49-56

International Workshop on Robotics in Smart Manufacturing (WRSM 2013) / 23rd International Conference on Flexible Automation and Intelligent Manufacturing (FAIM 2013)

Porto, PORTUGAL, JUN 26-28, 2013

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-006-FGG

DOI: 10.1007/978-3-642-39223-8_5

Abstract (EN): The use of robots in industrial applications has been widespread from handling tasks to processes. The finishing processes include operations such as deburring, grinding and polishing. Within these processes, there is a need to control the contact force between the workpiece and the robot. The force control can be implemented in a passive or active form, either in the robot arm or with an external device. This paper presents the development of a device to be used in robotic finishing applications. It provides a semi-active system that limits and maintains the contact force and is used in conjunction with the robot controller. The device uses a pneumatic driven linear axis fitted with a position sensor. The architecture of the developed system and experimental results regarding the performance of the built prototype are presented. The implementation of different control strategies to adjust the robot path velocity are proposed and discussed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8