AUTOMATING ROBOT PROGRAMMING IN THE CLEANING AND DEBURRING WORKSTATION OF THE AMRF

In the Cleaning and Deburring Workstation, two robots cooperate to accomplish deburring, buffing, cleaning, and handling of machined metal parts. A technique has been developed which uses part geometry data to generate robot paths automatically. Using a graphics interface, an operator specifies how a part is to be gripped, fixtured, deburred, buffed, and cleaned. A path planner combines this process plan with geometry data to compute robot paths. A workstation controller coordinates the actions of both robots, allowing various steps in the finishing process to be performed simultaneously. This paper describes the methods used to automate the finishing process.