This paper presents on the design, prototyping and testing of a flexure-based active workpiece fixture system for precision robotic deburring. Current industrial robotic manipulators suffer from poor positioning accuracy, which makes precision tasks such as deburring, polishing and grinding challenging. Together, the robotic manipulator and the proposed active work fixture will create a dual-stage positioning system for precision tasks where position/force control is crucial. The main application is robotic deburring, which demands positioning accuracy and high compliance over large cutting forces. This first prototype active fixture system is designed as a planar motion table that is supported by parallel flexures, driven by voice-coil actuators, and uses high-resolution laser displacement pickups facilitate accurate motion generation with great backdrivability for force control. The theory behind the proposed design is shown, and a prototype is then used to validate performance. Overall the prototype flexure stage achieves a total stroke of 1 mm and a bandwidth of 21 Hz.
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ASME 2018 13th International Manufacturing Science and Engineering Conference
June 18–22, 2018
College Station, Texas, USA
Conference Sponsors:
- Manufacturing Engineering Division
ISBN:
978-0-7918-5137-1
PROCEEDINGS PAPER
Design of a Flexure-Based Active Fixture System for Precision Robotic Deburring
Jacob Beck,
Jacob Beck
Oregon State University, Corvallis, OR
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Burak Sencer,
Burak Sencer
Oregon State University, Corvallis, OR
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Ravi Balasubramanian,
Ravi Balasubramanian
Oregon State University, Corvallis, OR
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Jordan Meader
Jordan Meader
Oregon State University, Corvallis, OR
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Jacob Beck
Oregon State University, Corvallis, OR
Burak Sencer
Oregon State University, Corvallis, OR
Ravi Balasubramanian
Oregon State University, Corvallis, OR
Jordan Meader
Oregon State University, Corvallis, OR
Paper No:
MSEC2018-6672, V003T02A046; 10 pages
Published Online:
September 24, 2018
Citation
Beck, J, Sencer, B, Balasubramanian, R, & Meader, J. "Design of a Flexure-Based Active Fixture System for Precision Robotic Deburring." Proceedings of the ASME 2018 13th International Manufacturing Science and Engineering Conference. Volume 3: Manufacturing Equipment and Systems. College Station, Texas, USA. June 18–22, 2018. V003T02A046. ASME. https://doi.org/10.1115/MSEC2018-6672
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