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1 Development of Automation Technology for Precision Finishing Works Employing a Robot Arm There is demand for the automation of finishing processes that require technical skills in the manufacturing of metal parts with a complex shape. Such processes can be categorized into two major types of processes: polishing the surface and chamfering the edges. In this paper, a robot system with model following force control is applied to a polishing process and the method proposed in this paper is applied to a chamfering process. The proposed method consists of two steps: the edge of a part is measured by a tool with model following force control and then the edge is chamfered using position feedback control along the measured path. The validity of these methods has been confirmed by experiments involving actual polishing and chamfering. 1. 緒言 NC ( 1 ) ( 2 ) ( 3 ) ( 4 ) 2. 仕上げ作業と自動化 R 58 IHI Vol.52 No.2 ( 2012 )

In this paper, a robot system with model following force control is applied to a polishing process and the method proposed in this paper is applied to a chamfering process.

2 ( 5 ) ( 9 ) 1/10 1/100 NC ( 1 ) ( 2 ) CAD ( 5 ) ( 6 ) ( 3 ) CAD ( 7 ) ( 9 ) ( 1 ) ( 2 ) CAD ( 7 ) CAD CAD ( 3 ) 2 ( 1 ) ( 3 ) ( 1 ) 3. 産業用ロボットによる力倣い制御第 1 図 CAD IHI Vol.52 No.2 ( 2012 ) 59

3 CAD 第 1 図 Fig. 1 Model following force control 第 2 図 CAD PC PC 第 2 図 Fig. 2 Testing system configuration PC CAD 12 ms ( 10 ) ( 11 ) 第 3 図第 4 図 PC 第 3 図 Fig. 3 Control block 60 IHI Vol.52 No.2 ( 2012 )

4 4. ロボットアームによる高精度エッジ加工手法 f 2 mm 0.5 mm/s 第 4 図 Fig. 4 Overview of chamfered edge : slot 第 5 図 Ra 第 6 図 ( 1 ) 1 ( 1 ) CAD CAD CAD mm/s ( 2 ) 第 5 図 Fig. 5 Overview of polished surface : cylinder 第 6 図 Fig. 6 Chamfering process IHI Vol.52 No.2 ( 2012 ) 61

3 1 第 6 図 ( 1 ) 1 ( 1 ) CAD CAD CAD 240 400 6 mm/s ( 2 ) 第 5 図 Fig.

5 CAD ( 2 ) 5. 位置制御加工の問題点と繰返し学習 1 2 mm/s P ( 12 ) 第 7 図第 7 図 - ( a ) - ( b ) 第 7 図 - ( a ) - ( b ) 0 1 a P 10 第 8 図 6. 1 加工評価試験 6. 加工試験 f 15 mm mm Ra 3.2 mm ( a ) ( b ) P a 1 a 第 7 図 Fig. 7 Iterative learning control block 62 IHI Vol.52 No.2 ( 2012 )

6 ( mm ) ( mm ) ( a ) ( s ) ( b ) ( s ) 第 8 図 Fig. 8 Effects of iterative learning control ( a ) ( b ) 第 10 図 Fig. 10 Overview of chamfered edge : Hole on a flat surface 第 1 表 Table 1 Results of chamfering : Hole on a flat surface mm mm mm Ra mm Rz mm ( f 3 mm ) 第 9 図 2 mm/s 第 10 図 CAD 第 10 図 - ( b ) 第 1 表 0.1 mm 0.1 mm 0.46 ( a ) ( b ) f 第 9 図 mm Fig. 9 Target shape of edge and chamfering method : Hole on a flat surface ( unit : mm ) 0.04 mm 0.04 mm 6. 2 各種形状への適用性確認試験第 11 図第 12 図第 2 表 V 第 13 図 IHI Vol.52 No.2 ( 2012 ) 63

461 mm 0.296 0.259 mm 0.358 0.348 0.049 6 0.074 6 0.002 46 0.005 56 Ra mm 1.82 2.51 Rz mm 7.95 11.5 12 ( f 3 mm ) 第 9 図 2 mm/s 第 10 図 CAD 第 10 図 - ( b ) 第 1 表 0.1 mm 0.1 mm 0.46 ( a ) ( b ) 30 0.

7 ( a ) ( b ) ( c ) R ( 62 ) 結言参考文献第 12 図 Fig. 12 Overview of chamfered edge : Slot on a cylinder 第 2 表 Table 2 Results of chamfering : Slot on a cylinder mm mm mm Ra mm 第 11 図 mm Fig. 11 Target shape of edge : Slot on a cylinder ( unit : mm ) 7 9 ( a ) ( b ) 第 13 図 V Fig. 13 Overview of chamfered edge : V-shaped groove 45 ( 1 ) IHI pp ( 2 ) pp ( 3 ) IHI pp ( 4 ) 29 3G ( 5 ) < > ( 6 ) KREUZ < > ( 7 ) pp ( 8 ) C pp ( 9 ) pp IHI Vol.52 No.2 ( 2012 )

11 Target shape of edge : Slot on a cylinder ( unit : mm ) 7 9 ( a ) ( b ) 第 13 図 V Fig. 13 Overview of chamfered edge : V-shaped groove 45 ( 1 ) IHI 49 1 2009 3 pp.

8 ( 10 ) C pp ( 11 ) 1988 pp ( 12 ) pp IHI Vol.52 No.2 ( 2012 ) 65

& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro

& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro TV 1,2,a) 1 2 2015 1 26, 2015 5 21 Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Rotation Using Mobile Device Hiroyuki Kawakita 1,2,a) Toshio Nakagawa 1 Makoto Sato