Commissariat a L'energie Atomique

Frederic Sgarbi

Michel Ferard

Tanguy De Kervenouel

Riadh Cammoun

Process for generating a trajectory for a robotized system comprising at least one member and making it possible to vary the speed of the movement in real time. The process consists of choosing a main movement, e.g. the translation movement of the member and all the other movements are dependent thereon. The main movement takes place on the trajectory broken down into a section having a speed ensuring the possibility of stopping the member at the end of the section following that which has been covered. The dependent movements are covered in synchronized manner with the main movement to the extent that this is possible. The invention can e.g. apply to the automatic trimming or deburring of parts having a complex shape. It is possible to envisage robotized systems formed from several independently mobile solids coordinated by the process, or several control dependency instructions.

Process for generating a trajectory for a robotized system

Device for machining contours (2) made of a soft material, such as plastic, and essentially including a rotary tool (6) constituted by abrasive elastic plates (5) whose flexibility makes it possible to dampen the jerks of the member (33) bearing the tool (6). Preferably, a pneumatic motor (9) and a speedometer (10) are used to automatically control the tool (6) at a constant speed guaranteeing a stable machining or cutting force. The method for the automatic machining of flexible burrs on a contour formed of a soft material, is also described.

Device for machining of contours made of a soft material and automatic

The present invention is a device for contouring blocking burrs for a milling cutter. The penumatic broach or spindle is equipped with a tachometer, which controls the reversal of the supply of a pneumatic jack connecting the spindle to the wrist or handle of the robot as soon as the rotation speed of the cutter drops below a threshold value. The blocking burrs are then cut off by means of successive passes.

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Paris, France

Frederic Sgarbi