Graduate Thesis Or Dissertation

 

Robotic deburring Public Deposited

Downloadable Content

Download PDF
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/x633f5302

Descriptions

Attribute NameValues
Creator
Abstract
  • Deburring of machined parts is a crucial task in the aerospace and automotive industry. This process is still performed manually to a large extent due to the unpredictability of burr formation as well as the complex interactions between the human arm and the workpiece. Poor ergonomics, repetitive stress and strain injuries for the human operators, as well as high cost are all reasons to automate this process. In this work, we first study how skilled operators perform deburring, which is a hybrid force and position control task, by using a motion capture system, force sensor and an IMU to record and recreate the process. Next, we explore the interaction dynamics and explain the importance of the dynamic characteristics of a spring-mass system to successfully deburr an edge. We come up with control strategies that allow a backdrivable robot to accomplish the same task using a hybrid controller made up of a sliding mode controller and a proportional controller acting in parallel.
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Committee Member
Academic Affiliation
Non-Academic Affiliation
Keyword
Rights Statement
Publisher
Peer Reviewed
Language
Replaces
Additional Information
  • description.provenance : Made available in DSpace on 2017-06-26T20:32:15Z (GMT). No. of bitstreams: 1JamesFrancis2017.pdf: 27464237 bytes, checksum: 5699d82e4d2bc65c58ef896b4ef7f7a9 (MD5) Previous issue date: 2017-06-13
  • description.provenance : Submitted by Francis James (jamesf@oregonstate.edu) on 2017-06-15T21:28:45ZNo. of bitstreams: 1JamesFrancis2017.pdf: 27464237 bytes, checksum: 5699d82e4d2bc65c58ef896b4ef7f7a9 (MD5)
  • description.provenance : Approved for entry into archive by Steven Van Tuyl(steve.vantuyl@oregonstate.edu) on 2017-06-26T20:32:15Z (GMT) No. of bitstreams: 1JamesFrancis2017.pdf: 27464237 bytes, checksum: 5699d82e4d2bc65c58ef896b4ef7f7a9 (MD5)
  • description.provenance : Approved for entry into archive by Julie Kurtz(julie.kurtz@oregonstate.edu) on 2017-06-24T20:57:48Z (GMT) No. of bitstreams: 1JamesFrancis2017.pdf: 27464237 bytes, checksum: 5699d82e4d2bc65c58ef896b4ef7f7a9 (MD5)
Embargo reason
  • Existing Confidentiality Agreement

Relationships

Parents:

This work has no parents.

In Collection:

Items