Engineering methods and tools enabling reconfigurable and adaptive robotic deburring

According to recent researches, it is desirable to extend Industrial Robots (IR) applicability to strategic fields such as heavy and/or fine deburring of customized parts with complex geometry. In fact, from a conceptual point of view, anthropomorphic manipulators could effectively provide an excellent alternative to dedicated machine tools (lathes, milling machines, etc.), by being both flexible (due to their lay-out) and cost efficient (20-50% cost reduction as compared to traditional CNC machining). Nonetheless, in order to successfully enable highquality Robotic Deburring (RD), it is necessary to overcome the intrinsic robot limitations (e.g. reduced structural stiffness, backlash, time-consuming process planning/optimization) by means of suitable design strategies and additional engineering tools. Within this context, the purpose of this paper is to present recent advances in design methods and software platforms for RD effective exploitation. Focusing on offline methods for robot programming, two novel approaches are described. On one hand, practical design guidelines (devised via a DOE method) for optimal IR positioning within the robotic workcell are presented. Secondly, a virtual prototyping technique for simulating a class of passively compliant spindles is introduced, which allows for the offline tuning of the RD process parameters (e.g. feed rate and tool compliance). Both approaches are applied in the design of a robotic workcell for high-accuracy deburring of aerospace turbine blades.