CAD-Based Robot Arm Deburring Using Hybrid Sliding Mode Impedance Control

The contact force between the deburring tool and workpiece is the most important in the field of robotic deburring. This contact force will affect the control precise and surface roughness in the deburring processes. This thesis proposes a chattering-free fuzzy hybrid sliding mode impedance control strategy for precision deburring using 6 DOFs robot arm with grinder. The force model of the deburring is proposed to compute the contact force between the grinder and the burr. The force model can be separated into three parts: chip formation force, friction force and plowing force. The deduction of the chip formation force and friction force are based on Werner’s model and Malkin’s grinding theory, and the deduction of the ploughing force is based on single-grit tests. This model uses the burr’s height and cross-section area to calculate contact force, and those information are detected by camera. The desired trajectory is generated by CAD/CAM software. We also consider the orientation of the robot arm on free-curved surface in order to avoid singularity.