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Material Removal Questions

Question Asked:

Hello There ! I have a deburring application for an Aluminum - transmission case . Need your suggestion on the following two main points :- 1) how to select a tool for this application. How tool wear and variation in flashes / burrs in Die casting input parts be taken care. If that is to be controlled thru robot programming or the tool thru some auto compensation feature. 2. Which option is better :- a) Component on the robot and Deburring tool fixed. b) Deburring tool on robot and part clamped on a jig/fixture. Kindly share pros and cons of both configurations mentioned in a) and b) This will help me great deal to reach a final decision. the robot here is Fanuc M-710iC / 70 Do you supply and support in Indian Market for integration and commissioning . waiting for your reply. Thank you in advance. Regards, Amit Balyan

4 Answers

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Johnathan Rankin - Automated Systems Specialist
Nidec Minster Corporation
johnathan [dot] rankin [at] minster.com
(419) 628-2331

Hello Amit, There are so many variables here but I will try to answer a couple of questions. 1) Robot compensation vs EOAT compensation: Robot compensation via force/torque sensor is more expensive but offers vast flexibility. It is also a bit more complicated to program. EOAT compensation offers usually only one axis of compensation via regulated air pressure. Effective but limited flexibility. 2) Totally depends on your process and cycle time requirements. Both are subject to the variance on the part geometry and both have their pros and cons. Sorry I cant be more specific. Feel free to reach out with specific questions. Thanks, Johnathan

Britta Iwen - Global marketing - Robotics
3M
biwen [at] mmm [dot] com
(651) 737-6405

Hi Amit - Thanks for your note, we can help advise on your questions. Can you please tell me your email &/or phone so that our 3M India application engineer for robotics can contact you? Or, you can reach out to him directly: Raghu, at +919902097434 or on email at kraghunatha@mmm.com. Thank you, Britta

Maximiliano Falcone - Business Development Manager
PushCorp, Inc.
mfalcone [at] pushcorp [dot] com
(847) 471-0493

Hello Amit, Thank you for your questions. 1)As was pointed out by Johnathan, there are a few different technologies out there which can be deployed in your application. F/T sensors require programming to take the data and apply it within your robot's programmed path to get the results you desire. Passive compliance devices and closed loop active compliance devices rely on a slide mechanism (typically electro-pneumatic) to control the force being exerted on the part by the cutter or media within a compliant stroke stroke built into the device. The difference here is that with the F/T you need to manipulate the position of the robot NRT and with a passive/active slide device the robot path in most cases can remain constant and the compliance device adjusts for force,wear in the tool and differences in the part. See this video for an example of active compliance in an engine deburring application: https://www.youtube.com/watch?v=8uzrGi4zILg.Send me an email 4 Q2. BR, Max Falcone

Matt Perrault - Applications Engineer
ATI Industrial Automation
matthew [dot] perrault [at] ati-ia.com
(919) 772-0115

You must consider the amount of material to be removed and what the end condition you are looking for. A .015” chamfer tol is not possible with the same tool that removes heavy flash from castings. Typically in applications such as yours, there are inconsistencies in the part size, fixturing, and robot repeatability. To account for this, compliance in the system is necessary. The cutting tool must be able to compensate for poor location of the work surface while applying a consistent amount of force. There are few factors to consider between part on robot and tool fixed (called “part to process”) and the opposite. First does the robot have the payload to handle the part or the deburring tool? Can it manipulate the tool fast enough to remove the proper amount of material? If the cutting edge moves too slowly across the surface, too much material may be removed. The robot must be able to move and manipulate the part quickly enough to get the right part finish.


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