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  • UNIVERSITI TEKNIKAL MALAYSIA MELAKA (UTeM)

    Force / Torque Sensing Applied to Industrial

    Robotic Deburring

    Thesis submitted in accordance with the partial requirements of the Universiti

    Teknikal Malaysia Melaka for the Bachelor of Manufacturing Engineering

    (Robotic and Automation)

    By

    Latifah Sulong

    Faculty of Manufacturing Engineering

    May 2007

  • UTeM Library (Pind.1/2005)

    SULIT

    TERHAD

    TIDAK TERHAD

    (Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia yang termaktub di dalam

    AKTA RAHSIA RASMI 1972)

    (Mengandungi maklumat TERHAD yang telah ditentukan

    oleh organisasi/badan di mana penyelidikan dijalankan)

    (TANDATANGAN PENULIS)

    Alamat Tetap: 29 Kampung Gaung,

    21700 Kuala Berang,

    TERENGGANU.

    Tarikh:14/05/2007_______________ __

    Disahkan oleh:

    (TANDATANGAN PENYELIA)

    Cop Rasmi:

    Tarikh: _______________________

    * Tesis dimaksudkan sebagai tesis bagi Ijazah Doktor Falsafah dan Sarjana secara penyelidikan, atau disertasi bagi pengajian secara kerja kursus dan penyelidikan, atau Laporan Projek Sarjana Muda (PSM). ** Jika tesis ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa/organisasi berkenaan dengan menyatakan sekali sebab dan tempoh tesis ini perlu dikelaskan sebagai SULIT atau TERHAD.

    BORANG PENGESAHAN STATUS TESIS*

    UNIVERSITI TEKNIKAL KEBANGSAAN MALAYSIA

    JUDUL: FORCE / TORQUE SENSING APPLIED TO INDUSTRIAL ROBOTIC DEBURRING

    SESI PENGAJIAN: 2/2006-2007 Saya _____________________________________________________________________

    mengaku membenarkan tesis (PSM/Sarjana/Doktor Falsafah) ini disimpan di Perpustakaan Universiti Teknikal Malaysia Melaka (UTeM) dengan syarat-syarat kegunaan seperti berikut:

    1. Tesis adalah hak milik Universiti Teknikal Malaysia Melaka. 2. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan

    untuk tujuan pengajian sahaja. 3. Perpustakaan dibenarkan membuat salinan tesis ini sebagai bahan pertukaran

    antara institusi pengajian tinggi.

    4. **Sila tandakan (√)

    LATIFAH BINTI SULONG

  • APPROVAL

    This thesis submitted to the senate of UTeM and has been accepted as fulfillment of

    the requirement for the Bachelor of Manufacturing Engineering (Robotic and

    Automation). The members of the supervisory committee are as follows:

    ……………………………………………….

    (Mr. Khairol Anuar bin Rakiman)

    Main supervisor

    Faculty of Manufacturing Engineering

  • DECLARATION

    I hereby, declare this thesis entitled “Force/ Torque Sensing Applied to Industrial

    Robotic Deburring” is the result of my own research except as cited in the references.

    Signature : ……………………………………………………

    Author’s Name : ……………………………………………………

    Date : ……………………………………………………

  • i

    ABSTRACT

    Force and torque sensing is one of the important equipment for several automatic and

    industrial robotic application. Force and torque sensor use to measure the force and

    torque and as control mechanism. It almost use in application of finishing process such

    as grinding, drilling and deburring In robotic deburring the force and torque sensing is

    use to control the force with the interaction between deburring tool and material part. In

    this project the use of the force and torque sensor is investigate to know its application

    from past researcher. The related equipment was identified for application the force and

    torque sensor in industrial robotic deburring. The relevant data that related to the

    experimental set up was analyses to know the measure of force and torque sensor in

    robotic deburring. The relationship is made for different selected material. The material

    that selected is aluminium, acrylic, copper and stainless steel. In theoretically the

    expected result was analyses for the selected material base on its mechanical properties.

  • ii

    ABSTRAK

    Penderia daya dan daya kilas adalah satu peralatan penting untuk beberapa aplikasi

    automatik dan dalam industri robotik. Daya dan daya kilas penderia digunakan untuk

    mengukur daya dan daya kilas dan juga sebagai mekanisma kawalan. Ia selalunya

    digunakan dalam proses akhir seperti mencanai, menggerudi dan membuang serpihan

    pada permukaan. Dalam industri robotik penderia daya dan daya kilas digunakan untuk

    mengawal daya yang bertindak antara mata alat dan pada bahagian permukaan bahan.

    Dalam projek ini, penggunaan penderia daya dan daya kilas dikaji untuk mengetahui

    aplikasinya daripada pengkaji terdahulu. Peralatan yang berkaitan juga dikenalpasti

    untuk aplikasi penderia daya dan daya kilas. Data yang berkaitan dianalisis untuk

    mengetahui keputusan yang akan diperolehi. Perkaitan dibuat bagi bahan yang berbeza.

    Bahan yang dipilih adalah Aluminium, Acrylic, keluli, dan tembaga. Jangkaan

    keputusan dianalisis secara teori berdasarkan ciri-ciri mekanikal bahan tersebut.

  • iii

    DEDICATION

    For my parents, Sulong bin Mohammad and Halimah@Semek binti Ismail, for my

    siblings and friends.

  • iv

    ACKNOWLEDGEMENTS

    Alhamdulillah, with much guidance and support my final year project is now completed.

    Firstly, I would like to express my gratefulness towards Allah S.W.T because giving me

    the opportunity to finish my final year project. Without faith towards the almighty, I

    would not have the confidence to finish this project. I would like to thank my beloved

    family especially my parents, Mr. Sulong bin Mohammad and Mrs. Halimah@Semek

    binti Ismail for showing love, support and advice when in truly need.I would like also to

    express my greatest appreciations to my wise supervisor, Mr. Khairol Anuar bin

    Rakiman, truly without his guidance, I would have been lost. Not to forget to thank the

    technicians who gave me a lot of assistance and information. Not forget to my friends

    for their attention and also many thanks to all my lecturers and staffs who showed

    support and willing to help in finishing my thesis project. Thank you very much.

  • v

    TABLE OF CONTENTS

    Abtract………………………………………………………………………………........i

    Abstrak………………………………………………………………………………...…ii

    Dedication……………………………………………………………………….............iii

    Acknowledgement……………………………………………………………………….iv

    Table of Contents………………………………………………………………...............v

    List of Figures...................................................................................................................vi

    List of Tables………………………………………………………………………. ….viii

    1.0 INTRODUCTION

    1.1 Background………………………………………………………………………1

    1.2 Problem Statements………………………………………………………………2

    1.3 Objectives………………………………………………………………….. ……3

    1.4 Scope of the Project……………………………………………………………....3

    1.5 Project Outline…………………………………………………………………....3

    2.0 LITERATURES REVIEW

    2.1 Introduction………………………………………………………………………5

    2.2 Force / Torque Sensor Definition………………………………………………...6

    2.3 Previous Achievement……………………………………………………………7

    2.4 Theory of burrs formation……………………………………………………....14

    2.5 Deburring Process…………………………………………………………........21

    2.6 Deburring Problem……………………………………………………………...28

    3.0 METHODOLOGY

    3.1 Introduction……………………………………………………………………...29

  • vi

    4.0 EXPERIMENTAL SETUP

    4.1 Introduction……………………………………………………………………..32

    4.2 Force/ Torque Sensor Description……………………………………...............33

    4.2.1 Mechanical Description of the force torque sensor…………………….....35

    4.3 Deburring tool…………………………………………………………………..36

    4.4 Robot Application………………………………………………………………38

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