An Approach to Automated Deburring by Robot Manipulators

[+] Author and Article Information
H. Kazerooni

Mechanical Engineering Department, University of Minnesota, Minneapolis, MN 55455

J. J. Bausch

Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, 02139

B. M. Kramer

Mechanical Engineering Department, George Washington University, Washington, D.C., 20052

J. Dyn. Sys., Meas., Control 108(4), 354-359 (Dec 01, 1986) (6 pages) doi:10.1115/1.3143806 History: Received August 26, 1986; Online July 21, 2009


The deburring process of manufactured parts has been investigated theoretically and experimentally as a frequency domain control problem with special regard to application by industrial robot manipulators. A new control strategy has been developed for precision deburring to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. Compliant tool-holders, designed according to the above control strategy, provide the required normal and tangential forces for deburring. A servo positioning table used to holds parts, has been considered in this study to compensate for robot oscillations up to 80 percent. The robot, the compliant tool-holder, and the servo positioning table, working together with a closed-loop process control, form a new automated system that deburrs manufactured parts.

Copyright © 1986 by ASME
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