Tsuginobu Osada

Analysis of Machining Disturbance and Development of a Support System for the Finishing Process

In this paper we address the development of a finish machining support system that can operate without machining mistakes for the limited production of diversified products. The machining is supported by a haptic device. One challenge is that it is necessary to separate the force sensor output that exists in the operation force from the machining influence force. We propose a control method to remove the influence of the rotation tool disturbance force from the operation force by using adaptive modeling, which estimates the force of rotation tool friction torque in the tangential direction of the machining side from the contact force in the normal direction of the machining side. The effectiveness of this research is shown by a machining experiment.Copyright

ON THE DEVELOPMENT OF A MACHINING SUPPORT SYSTEM TO IMPROVE SURFACE FINISH

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a original bilateral controller which have the gain components on the line used to transfer the force signal between master and slave robot. These gains change the binding force between master and slave robot to change the construct of the system. The effectiveness of this system is shown in simulations using haptic device and virtual model of slave robot.Copyright

Realization of Finishing Cuts Under Changing Machining Conditions by Machining Support Robots

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a control method based on a machining model made up of several components, including tool speed, feed speed of the tool and others, in order to control the robots under conditions in which it is possible to achieve highly accurate machining surfaces. The motion of a slave robot that requires precise control is controlled automatically, and the worker is given the force calculated by this control method. The effectiveness of this system is shown in a machining experiment.© 2010 ASME

Finish Processing Support System via Grinding Force Control Based on Hand Stiffness Estimation

Compared with machining by automation, handwork is suitable for high-variety low-volume manufacturing, because such manufacturing requires a lower cost and shorter lead time. However, high-concentration machining should be implemented in handwork. Furthermore, any mistake generated by disturbance from tool rotation results in useless products and wasted materials. Our goal was to develop a finish machining support system that can realize high-accuracy machining in the case of tool rotational direction orthogonal to the feed direction without any machining mistakes. Specifically, in this study we developed a fixture-type machining support robot with a parallel link system to achieve good usability and highly accurate machining. We estimate the operator’s hand stiffness from the machining force and end effector position during grinding, and then the grinding force is controlled based on estimation of the worker’s hand stiffness. As a result, the influence of grinding force on the worker’s hand is suppressed, and the problems with machining accuracy in handwork are lessened. Finally, the effectiveness of the proposed method is shown by grinding experiments.Copyright

Operation force reflecting method in machining geometry via bilateral machining support system with variable connecting force

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the workers skill. To solve this problem, the bilateral control system is applied to a machining support system. The aim of this research is to develop a machining support system via the bilateral control system which can accept various machining theories and to reflect the operation force into the machining geometry. This system has a construction which makes it possible to change the connecting force between a master and a slave robot based on a symmetrical bilateral controller. This construction is useful to change the feature of a system dynamically according to machining condition. The effect of this system is shown by the experiment results.

DEVELOPMENT OF CUTTING SUPPORT SYSTEM BY BILATERAL CONTROL WITH VARIABLE CONNECTING FORCE BETWEEN MASTER AND SLAVE ROBOT

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. To solve this problem, the bilateral control system is applied to a machining support system. The aim of this research is to develop a machining support system via the bilateral control system which can accept various machining theories and to reflect the operation force into the machining geometry. This system has a construction which makes it possible to change the connecting force between a master and a slave robot based on a symmetrical bilateral controller. This construction is useful to change the feature of a system dynamically according to machining condition. The effect of this system is shown by the experiment results.Copyright