Analysis and implementation of a force control strategy for drilling operations with an industrial robot

被引：10

作者：

Gomes Rosa, Diego Gabriel ^{[1
]}

Silveira Feiteira, Jose Flavio ^{[1
]}

Lopes, Antonio M. ^{[2
]}

Ferreira de Abreu, Paulo Augusto ^{[2
]}

机构：

[1] Univ Fed Fluminense, Ave Trabalhadores,420 Vila Sta Cecilia, BR-27255125 Volta Redonda, RJ, Brazil

[2] Univ Porto, Fac Engn, UISPA LAETA INEGI, Rua Doutor Roberto Frias,S-N, P-4200465 Oporto, Portugal

来源：

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2017年 / 39卷 / 11期

关键词：

Drilling operations; Force control; Robot machining; Experimental evaluation;

D O I：

10.1007/s40430-017-0913-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a theoretical and experimental study to evaluate the use of force control in drilling operations, based on an industrial robot, is presented. A force control strategy embedded in a commercial industrial robot, originally devoted to general machining tasks, is adapted to drilling operations. It is shown that satisfactory results can be achieved in standard industrial applications. Unwanted displacements can occur, resulting in dimensional uncertainty, especially in specimens with very small dimensions. Nevertheless, the implemented force control is able to avoid the risks of failure in the material, and to minimize the operating time in several industrial drilling processes.

引用

页码：4749 / 4756

页数：8

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