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Fettling of cast metal parts requires a significant amount of
competence about issues such as grinding strategies, force sensing, grinding wheel wear compensation, grippers etc.
Accomodating variations
In any batch of castings the size and shape of the burrs vary
considerably from one individual casting to another. GREIF applied various techniques to the burr variations, such as force sensing and speed control. The speed of the robot responds to the
effort required. When there is a small burr the robot runs faster, and when it encounters a big burr it slows down.
The force sensing system maximises the overall speed of the
robot and therefore increases the overall efficiency of the operation.
Compensating wheel wear
The fettling process gradually wears away the grinding and
cuttings wheels. Thus, the system is equipped with a wear compensation unit that senses the amount of wear to the wheels and automatically adjusts the paths of the robot accordingly.
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