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The use of robot with force control in green ceramics machining

Grant number: 10/18295-9
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): April 01, 2011
Effective date (End): March 31, 2012
Field of knowledge:Engineering - Materials and Metallurgical Engineering - Nonmetallic Materials
Principal researcher:Carlos Alberto Fortulan
Grantee:Gustavo Jose Giardini Lahr
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil


This project studies the use of robots in green ceramics machining, specifically, the machining of high voltage porcelain isolators. The green state, the given name to the material conformed before heat treatment, is characterized by a very low strength and high brittleness where the forces applied in the machining, of a very abrasive kind, can generate/develop defects in the part, that will decrease its mechanical properties and electrical isolation after sintering, compromising their functionality. This work aims to study the machining with robot of models of high voltage isolators in 1:10 scale with measure of the loads in the machining operation. Billets of porcelain will be conformed by isostatic pressing and machined in the green state with a grinder attached to the robot as a tool. Kuka robot will be applied, KR16 model, which measures forces acting on your gripper with the aid of a force sensor. After machining the measured forces will be confronted with deviations metrological of shape and position, surface analysis and bending mechanical strength of sintered parts. It is expected to obtain models of isolators with its functional complexity of shape and mechanical properties in the green state closed to what is found in other types of machining, taking into consideration the use of control forces. The sensor will gather data to feedback control of the machining forces, increasing the abrasive process of removing and maintaining the mechanical properties and metrological tolerances of the isolator within a control region. (AU)

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