Novel Robotic Cell Architecture for Zero Defect Intelligent Deburring

Deburring operations are critical to automate when high quality is required, due to the unpredictable presence and variable thickness of burrs that necessitate singular optimized process planning. Industrial anthropomorphic manipulators could effectively perform high quality deburring operations, but still lack the intelligence needed to generate quality and time-optimal deburring cycles. This paper presents a novel architecture of Zero Defect intelligent deburring robotic cells. Vision systems and metrological sensors allow the identification of the burrs and the overall quality and pose of the workpiece, while a novel model-based supervisory control, based on a digital twin, automatically calculates the optimal sequence of operations and working parameters needed to achieve the desired quality, generating also the PLC and robot controllers validated code to perform each task. Finally, the prototype of the proposed Zero Defect intelligent deburring cell has been developed.