Pneumatic driven device for integration into robotic finishing applications

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

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

Conference proceedings International

Title: 23th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2013

Pages: 1-8

23th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2013

Porto, Portugal, 26 a 28 de junho de 2013

Indexing

ISI Web of Science

Scopus

Scientific classification

FOS: Engineering and technology > Mechanical engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8