A deburring system using the joint of revolute robot manipulator with a tool holder was developed for deburring automation. The tool holder composed of the plunger with spring was developed for freedom of three degree operation. The tool holder was applied for compensation of position errors during trajectory tracing or deburring the workpiece of ununiform. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was developed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis. In this paper, using the deburring system attached at the revolute robot manipulator, deburring experiments were performed. According to the experimental results, the good performance of the proposed deburring system using the revolute robot manipulator was shown.

본 연구는 양질의 조사료를 최대한 생산하기 위해 월동 사료작물 재배기술을 보완하고 봄 파종의 가능성과 생산성을 구명하고자 수원 국립축산과학원에서 국내개발 품종을 공시하여 2009년 3월부터 6월까지 수행하였다. 처리내용은 단파 3처리 (이탈리안 라이그라스 (IRG) 조생종 Kowinearly, 중생종 Kowinmaster, 청보리 유연)와 혼파 2처리 (Kowinearly와 유연, Kowinmaster와 유연) 등 5처리였다. 생육기간 중 IRG에서 도