Robotic Three-dot Force Feedback to Suppress Surface Contact Slipping in Robot Drilling
Abstract: Compared with the machine tools, the stiffness of industrial robots is lower. Therefore, in the drilling of in- dustrial robots, vibration occurred easily. The vibration can generate a slipping effect when the drilling tool touches the workpiece, which affects the quality of the drilled holes, the holes’ precision can not meet requirement and results in the failure of drilling. This paper presents a method based on three-dot-force feedback, which can suppress the Surface Contact Slipping (SCS). The method makes feedback to the robot kinematics using three force sensors, keeping the drilling tool normal with the workpiece surface to suppress SCS. Through the simulation analysis, the method can ef-fectively improve the quality of the drilled holes and fulfill the aim of drilling.
文章引用: 李晨杰 , 李树强 , 屈润鑫 , 朱思俊 , 姚俊 (2013) 机器人钻削三位力反馈表面接触滑移抑制。 机械工程与技术， 2， 92-98. doi: 10.12677/MET.2013.23018
 毕树生, 宗光华, 梁杰. 机器人技术于航空制造业[J]. 机器人技术与应用, 2009, 3: 25-31.
 E. Whinnem, M. Nystrom. Integrated metrology & robotics sys- tems for agile automation. SAE Technical Paper, 2000, 1: 4271- 4279.
 T. Olsson, M. Haage, H. Kihlman, et al. Cost-efficient drilling using industrial robots with high-bandwidth force feedback. Ro- botics and Computer-Integrated Manufacturing, 2010, 26(1): 24- 38.
 D. Russell, S. Kevin and I. John. ONCE (one sided cell end effe- ctor) robotic drilling system. SAE Automated Fas-tening Con- ference & Exhibition, New Applications for Automation Tech- nologies, 2002.
 R. Devlieg. High-accuracy robotic drill-ing/milling of 737in- board flaps. SAE International Journal of Aero-space, 2011, 4(2): 1373-1379.
 T. Olsson, A. Robertsson and R. Johansson. Flexible force con- trol for accurate low-cost robot drilling. IEEE International Con- ference on Robotics and Automation, Roma, 10-14 April 2007, 4770-4775.
 A. Blomdell, G. Bolmsjö, T. Brogårdh, et al. Extending an in- dustrial robot controller. IEEE Ro-botics & Automation Maga- zine, 2005, 12(3): 85-94.
 J. Liang, S. S. Bi. Design and experimental study of an end effe- ctor for robotic drilling. International Journal of Advanced Ma- nufacturing Technol-ogy, 2010, 50(1-4): 399-407.
 费少华. 机器人制孔终端执行器控制系统设计研究[D]. 浙江大学, 2012.