dc.contributor.author | Onstein, Ingrid Fjordheim | |
dc.contributor.author | Bjerkeng, Magnus Christian | |
dc.contributor.author | Martinsen, Kristian | |
dc.date.accessioned | 2024-02-22T10:01:51Z | |
dc.date.available | 2024-02-22T10:01:51Z | |
dc.date.created | 2024-01-08T13:30:33Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 2212-8271 | |
dc.identifier.uri | https://hdl.handle.net/11250/3119237 | |
dc.description.abstract | Manual removal of burrs on castings introduces health, safety, and environmental concerns. Automated removal of highly variable casting burrs could improve safety, but requires a solution based on robots, smart sensors, and advanced algorithms to tackle the problem in a flexible and cost-effective way. This paper presents a system for automatic tool trajectory generation for robotic deburring of cast parts with a specific focus on the robotic tool trajectory generation algorithm. The system generates a robotic trajectory adapted to the specific workpiece based on CAD model and 3D scans of the workpiece. The registered 3D scans and CAD model is used to generate a 3D model of each individual workpiece. This is fed into the tool trajectory generation algorithm. The algorithm uses the generated 3D model as well as a priori knowledge of the casting process to generate the tool trajectory. The tool trajectory planning algorithm has been tested on a set of various 3D models of cast parts, and the generated robotic tool path has been both simulated and tested on a KUKA KR 60. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Automated Tool Trajectory Generation for Robotized Deburring of Cast Parts Based on 3D Scans | en_US |
dc.title.alternative | Automated Tool Trajectory Generation for Robotized Deburring of Cast Parts Based on 3D Scans | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.journal | Procedia CIRP | en_US |
dc.identifier.doi | 10.1016/j.procir.2023.06.087 | |
dc.identifier.cristin | 2222321 | |
dc.relation.project | Norges forskningsråd: 237900 | en_US |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |