Equalization control of machining surface by cutting depth estimation using machining support system

Compared with machining by automation, handwork is suitable for high-variety low-volume manufacturing, because such manufacturing requires a lower cost and shorter lead time. However, high-concentration machining should be implemented in handwork. Our goal is to develop a finish machining support robot system that can realize high accuracy machining in the case of initial phase of deburring process. In this study, we intended to estimate a variance of cutting without feed rate of the tool to suppress excess the cutting and shortage of the cutting depth in the tool contact start point. Specifically we focused on the relationship between the cutting force and cutting depth and proposed machining model of deburring for a metal plane. As a result, we identified the relationship between the impulse of the cutting force and the cutting depth, the variation of machining accuracy in the tool contact starting point. Finally, the effectiveness of the proposal method is shown by machining experiments.