Robotic Three-Dot Force Feedback to Suppress Surface Contact Slipping in Robot Drilling

Abstract:

Relative to classic machine tools, industrial robots have a low stiffness. In the use of industrial robots during drilling, it is easy to vibrate. When drill bit contacts with workpiece surface, the vibration will cause the drill bit slipping on the workpiece surface, affecting the quality of the drilled hole, so that hole position accuracy can not meet the requirements, which cause the drilling failure. This paper presents a method based on force feedback to suppress the Surface Contact Slipping (SCS). The method using three-dot force sensors to feedback robots kinematics, keeps the drill vertical with the workpiece surface, to suppress slipping. Simulation analysis shows that the method can effectively improve the quality of the drilled hole, satisfy the drilling requirements.

• Periodical: Applied Mechanics and Materials (Volume 404)
• Pages: 650-656
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.404.650
• Online since: September 2013
• Authors: C.J. Li, R.X. Qu, S.Q. Li, Si Jun Zhu, Jun Yao
• Keywords: Force Feedback, Industrial Robot, Robot Drilling, Surface Contact Slipping

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