Publication: Control de herramienta de mecanizado de un robot ABB mediante el sensor de fuerza AFD70-1
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2012-04
Defense date
2012-04-24
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Abstract
Este Proyecto Fin de Carrera se basa en el control y monitorización de una herramienta de mecanizado, instalada en un robot ABB 2400/16, mediante el sensor de fuerza ADF70-1. La célula de trabajo utilizada está formada por un robot ABB 2400/16 y la herramienta de mecanizado, que esta compuesta por el sensor de fuerza ADF70-1 y el servo motor Sm3002 al que se encuentra acoplado. La herramienta de mecanizado está situada en un porta-herramientas, y puede ser acoplada al robot mediante un sistema de cambio automático de herramienta. Con la consecución de este proyecto dotaremos al robot de las herramientas necesarias para modificar su trayectoria en función de la fuerza ejercida sobre el sensor de fuerza, permitiendo al robot aplicar una fuerza constante predefinida por el usuario con anterioridad o durante la ejecución de una tarea de mecanizado, independientemente de la trayectoria o de la dureza de los materiales a mecanizar. -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
This Thesis is based on the control and monitoring of a machining tool, installed in an ABB robot 2400/16, by the ADF70-1 force sensor. The work station used is formed by an ABB robot 2400/16 and a machining tool, composed by the ADF70-1 force sensor and the Sm3002 servo motor, which is coupled. Machining tool is located in a tool holder and can be attached to the robot through an automatic tool change system. With the achievement of this project we will endow the robot with the necessary tools to modify its trajectory as a function of the force exerted on the force sensor, allowing the robot applies a constant force predefined by the user in advance or during the execution, regardless the trajectory or hardness of the materials to be machining.
This Thesis is based on the control and monitoring of a machining tool, installed in an ABB robot 2400/16, by the ADF70-1 force sensor. The work station used is formed by an ABB robot 2400/16 and a machining tool, composed by the ADF70-1 force sensor and the Sm3002 servo motor, which is coupled. Machining tool is located in a tool holder and can be attached to the robot through an automatic tool change system. With the achievement of this project we will endow the robot with the necessary tools to modify its trajectory as a function of the force exerted on the force sensor, allowing the robot applies a constant force predefined by the user in advance or during the execution, regardless the trajectory or hardness of the materials to be machining.
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Tecnología de fabricación, Mecanizado, Control automático, Robótica