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
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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.