Advanced Deburring and Chamfering SystemIndustrial robotic workcell with real-time control
The Advanced Deburring and Chamfering System (ADACS) is a robotic workcell designed to put precision chamfers on complex parts manufactured from high-strength alloy materials, such as aircraft jet-engine components. A U.S. Navy-sponsored project, ADACS integrates off-line programming, real-time control, and active tool technologies. The ADACS workstation consists of a force-sensitive active tool integrated with a robot and an indexing table used for part manipulation. The active tool incorporates actuators and force sensors to provide control over cutting force and tool stiffness. Required tool force is automatically generated by formula using the cutting depth, feeds, and speeds inputted by the operator. The ADACS project directly benefitted the DoD by improving quality and decreasing costs associated with high-precision finishing processes in the manufacture of weapon systems.
The workcell supervisor and the robot controller run on an 68040 processor running in a VME backplane. The LynxOS® real-time operating system was chosen as the operating system because it is POSIX®-compliant and allows for portability across different platforms. The workcell supervisor was developed by NIST engineers and written in C and C++.
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