• Journal of the Korean Society for Precision Engineering
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• v.15 no.9
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• pp.93-100
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• 1998

This study presents the new method which can transfer the expert's skill to deburring robot through neural network. The expert's skill is expressed as association mapping between the characteristics of the burr and human expert's action. Under the fundamental idea that the state of the deburring process can be extracted via the visual sense of the human, we employ vision system for the perception and identification of the changing burr. From the demonstration of human experts, force data are measured. Finally the characteristics of the burr and corresponding force are associated by the neural network which is trained through many demonstrations. The proposed method is verified in the deburring process of welding burr.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.250-253
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• 2002

The operation of surface and edge finishing is the last and essential process of parts machining, because a product is completed as an assembly. Therefore, the quality of the finished parts has a direct effect upon the performance of the product. Especially, the edge quality depending on the burr control process is very important. A number of deburring processes have been developed for macro burrs such as barreling, brushing, chemical methods, etc. However, micro burr removal when piercing a very thin plate is very difficult, because this badly deteriorates the surface quality of the processed part. When ultrasonic wave is propagated in liquids, it forms an infinitude of micro bubbles. These bubbles generate extremely strong force, which removes micro burrs. In ultrasonic micro deburring, the problem is that burrs are not removed completely, because only components of the explosive force directly act on the burrs, which is not enough. An attempt was made to remove the burrs using ultrasonic vibration in water with SiC as an abrasive agent. Because of the abrasive, smoother edges have been achieved. There are many control parameters in ultrasonic deburring such as abrasive size, ultrasonic frequency and amplitude, distance between tool and workpiece, tilt angle of workpiece etc. This study focuses on how distance and tilt angle influence deburring effect. A number of experiments for these parameters have been carried out, and then the effect of each parameter analyzed.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.256-263
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• 1993

The integration of deburring robots into product quality and productivity impact the industrial. In this paper the intelligent system of robotic deburring is proposed integrated with robot system, image processing system, force sensor system and host PC. The size, position, recognition of burr is determined by the information that the image processing system processed. The feed velocity of cutting tool is controlled by the information that the force sensor system processed. The integration of these information can remove the uncertainty of the information of deburring on the cutting path. The result of these technologies is useful for the development of the factory automation and automatic inspection equipments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1848-1852
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• 2003

Generally, burrs refer to projected parts remained on the edge after material had been processed. These burrs decrease the precision of part and cause many problems in part assembly. Burrs are undesirable projections of the material beyond the edge of the workpiece. A number of deburring processes have been developed such as barreling, brushing, chemical methods etc. But, there are a few publications in the area of applying ultrasonics to deburring. When ultrasonic vibration propagates in the liquid medium, a large number of bubbles are formed. These bubbles generate an extremely strong force, which removes burrs. Cavitations were used as a term to describe erosion of parts caused by the action of cavities in liquid. The object of this study is to analyze the effects of ultrasonic cavitation in deburring process. For this purpose, we introduce a new ultrasonic cavitation method with abrasive, which efficiently removes the burrs. Experimental parameters to verify the deburring effects of ultrasonic cavitations are ultrasonic power, amplitude, distant of the transducer from the workpiece, deburring time and abrasive. It has been shown that deburring with ultrasonic cavitation in water is effective to burrs.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1798-1803
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• 2003

Surface and edge finishing processes are important technological operations of in parts machining. Quality of the finished parts directly affect the performance of the whole product. Especially, edge quality, which depends on burr control, is extremely important. Burrs are undesirable projections of the material beyond the edge of the workpiece. A number of deburring processes have been developed such as barreling, brushing, chemical methods etc. But, there are only few publications in the area of applying ultrasonics to deburring. When ultrasonic vibration propagates in the liquid medium, a large number of bubbles are formed. These bubbles generate an extremely strong force, which can be used to remove burrs. Cavitation is used as a term to describe the erosion of parts caused by the action of cavities in liquid. The object of this study is to analyze the effects of ultrasonic cavitation in the deburring process. For this purpose, we introduce a new ultrasonic cavitation method, which efficiently removes the burrs. Experimental parameters to verify the deburring effects of ultrasonic cavitations are ultrasonic power, amplitude, distant of the transducer from the workpiece, deburring time and abrasive. It has been shown that deburring with ultrasonic cavitation in water is effective to burrs.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.5
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• pp.116-121
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• 2013

A high speed deburring machine was developed based on the analysis of magnetic contact force, forced vibration, stiffness and deformation of the structure. After 3 dimensional CATIA modelling, the stiffness and the deformation properties of the deburring machine in static and dynamic condition using finite element method were analyzed. Both static and dynamic simulation results showed that designed high speed deburring machine was well satisfied the stability properties at the operating condition. we have performance test program for the real system to evaluate the simulation results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.553-558
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• 1994

In this paper, we present a new approach for the automation of deburring process. An algorithm for teaching skills of a human expert to a robot manipulator is developed. This approach makes use of TSK fuzzy model that can express a highly nonlinear functional relation with small number of rules. Burr features such as height, width, area, cutting area are extracted from image processing by use of the vision system. Cutting depth, repeative number and normal cutting force are chosen as control signals representing actions of the human expert. It is verified that our processed fuzzy model can accurately express the skills of human experts for the deburring process.

• 한국기계연구소 소보
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• s.18
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• pp.67-74
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• 1988

The force sensor is essentially required in controlling robot manipulator in such applications as precise assembly of mechanical parts, deburring and polishing and various kinds of 6-axis force sensors are developed for these application. This paper presents the algorithm of horizontal assembly of circular cross-sectional workpiece using 3-axis force sensor and procedure to develop the sensor. The sensor is calibrated and tested using AID converter and 16 bit micro computer. The result is $\pm$0.03% FS of zero stability, 0.1%FS of linearity and $\pm$0.05% FS of resolution. The sensor will be used in the research of robot application such as assembly and deburring interfaced with micro computer based robot controller which is under development at the robotics lab.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.3
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• pp.313-318
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• 2013

Magnetic abrasive polishing is an advanced deburring process for nonmagnetic materials and micropattern products that have non-machinability characteristics. Despite these advantages, there are some problems with using MAP for deburring. MAP has introduced geometric errors into microgrooves because of an over-cutting force caused by uncontrolled magnetic abrasives in the MAP tool. Thus, in this study, to solve this problem, an EP (electrolyte polishing)-MAP hybrid polishing process was developed for deburring microgrooves in an STS316 material. In addition, an evaluation of EP-MAP for the deburring of microgrooves was carried out by profiling the burrs. The results of the experiment showed geometric errors after the deburring process using MAP. However, in the case of EP-MAP, no geometric error was observed after the process because of the lower material removal rate in EP-MAP.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.3
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• pp.102-109
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• 1996

In this paper, we present a new approach for the automation of deburring process. An algorithm for teaching skills of a human expert to a robot manipulator is developed. This approach makes use of TSK fuzzy mode that can wxpress a highly nonlinear functional relation with small number of rules. Burr features such as height, width, area, grinding area are extracted from image processing by use of the vision system. Grinding depth, repetitive number and normal grinding force are chosen as control signals representing actions of the human expert. It is verified that our proposed fuzzy model can accurately express the skills of human experts for the deburring process.