A Realization of Deburring Robot using Vision Sensor

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Burr is a projected part of finished workpiece. It is unavoidable and undesirable by-product of most metal cutting or shearing process. Also, it must be removed to improve the fit of machined parts, safety of workers, and the effectiveness of finishing operation. But deburring process is one of manufacturing processes that have net been successfully automated, so deburring automation is strongly needed. This paper focused on developing a basic algorithm to find edge of workpiece and match two different image data for deburring automation which includes automatic recognition of parts, generation of deburring tool paths and edge/corner finding ability by analyzing the DXF drawing file which contains information of part geometry. As an algorithm for corner finding, SUSAN method was chosen. It makes good performance in finding edge and corner in suitable time. And this paper suggested a simple algorithm to find matching point between CCD image and drawing file.