Yusuf Hamida El NASER, GÖKHAN ATALI, Durmus KARAYEL, SİNAN SERDAR ÖZKAN

Prototyping an Industrial Robot Arm for Deburring in Machining

Deburring after production is an important problem for machining, casting and plastic forming in the manufacturing sector. The main subject of this study is to design a deburring robot arm. In the study, deburring operation has been performed by integrating a deburring tool at the end of the robot arm. To control the trajectory of deburring tool and optimum deburring force are two critical situations in such a special robot arm design. Since the parts that need to be cleaned are often not of uniform geometry and so the distribution of the burr and trajectory of robot arm will not uniform. Therefore, the robot arm that can follow this trajectory must have enough degrees of freedom. On the other hand, the cutting force between the deburring tool and the work piece and the magnitude of the normal force is also important. This force must be small so that it will not affect the structural rigidity of the arm and not damage the part and at the same time it must be big enough for deburring. This robot arm designed for deburring can also be used for industrial purposes when parameters are changed.

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