Graduate Thesis Or Dissertation

 

Robotic Machining Fundamentals for Casting Defect Removal Public Deposited

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/x346d768j

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  • In the past half century, industrial robots have developed a strong presence in manufacturing. They now commonly perform tasks such as materials handling, assembly, welding, and painting. Unfortunately robotic machining tasks have seen limited deployments. The majority of machining robots are designed for soft materials like wood or plastic and only apply repetitive cutting trajectories to create a particular geometry. The current systems fail to work for less predictable tasks with harder materials. In response, this thesis presents a novel robotic machining system for casting defect removal. Removing defects from metal castings requires flexibility to a high variance in workpiece geometry, defect locations, and defect geometry. With the proposed methods, a six-axis industrial robot arm efficiently maneuvers custom tools between sorted target locations. It applies surface-aligned custom tool paths to localized surfaces, producing cut geometries appropriate for post-removal welding. The final system serves as the basis for a full-scale application that will reduce human error and injury and improve the efficiency and effectiveness of casting manufacturing.
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  • 2017-08-16 to 2018-10-06

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