TAILIEUCHUNG - Industrial RoboticsProgramming, Simulation and Applications_2

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. | 17 Adaptive Robot Based Reworking System Bernd Kuhlenkotter Carsten Krewet Thorsten Schtìppstuhl Robotics Research Institute Dortmund University Otto-Hahn-Strafie 8 Dortmund 44227 Germany 1. Introduction Surface quality plays an important role for both components and products. Either are an exact form and a dimensional accuracy required to fulfil a certain function . in the case of turbine blades or the visual impression of a surface must meet high demands . in sanitary fittings. In order to meet these high demands in material processing processes such as grinding and polishing are often used VDMA 2000 . Nowadays the processes of grinding and polishing are automised by industrial robots to release the operator and to grant an economical manufacturing. Presently known systems however face the problem that they can be adjusted to other part geometries and processing cycles only at high costs and therefore are used only in large batches Schraft Kaun 1999 . One reason are the workintensive and time-consuming programming and optimisation of the movement paths and another is that the handling systems do not recognize the existing defects on the surface resulting from grinding and polishing. As a defect-related adaptation to the subsequent processing steps is not possible the reprocessing of the surfaces is done manually. In this chapter a concept is presented which makes it possible to automatise the reworking of design surfaces of high-quality sanitary fittings with the help of industrial robots. 2. Analysis of the initial situation in the reworking of sanitary fittings Design surfaces of sanitary fittings must meet high optical demands whereas a millimetre accuracy to size of the fittings is not required. The slightest defects in the surface such as pores or cracks and also slightly visible processing traces lead to fittings not being sold anymore. For this reason defective fittings must be reworked at high costs. Since current handling and robot systems are not

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