@InBook{B16,
  pages     = {655--664},
  title     = {{Engineering methods and tools enabling reconfigurable and adaptive robotic deburring}},
  year      = {2017},
  author    = {Berselli, Giovanni and Gadaleta, Michele and Genovesi, Andrea and Pellicciari, Marcello and Peruzzini, Margherita and Razzoli, Roberto},
  type      = {(D) Book Chapters},
  abstract  = {According to recent researches, it is desirable to extend Industrial Ro- bots (IR) applicability to strategic fields such as heavy and/or fine deburring of customized parts with complex geometry. In fact, from a conceptual point of view, anthropomorphic manipulators could effectively provide an excellent alternative to dedicated machine tools (lathes, milling machines, etc.), by being both flexible (due to their lay-out) and cost efficient (20-50{\%} cost reduction as compared to traditional CNC machining). Nonetheless, in order to successfully enable high- quality Robotic Deburring (RD), it is necessary to overcome the intrinsic robot limitations (e.g. reduced structural stiffness, backlash, time-consuming process planning/optimization) by means of suitable design strategies and additional engi- neering tools. Within this context, the purpose of this paper is to present recent advances in design methods and software platforms for RD effective exploitation. Focusing on offline methods for robot programming, two novel approaches are described. On one hand, practical design guidelines (devised via a DOE method) for optimal IR positioning within the robotic workcell are presented. Secondly, a virtual prototyping technique for simulating a class of passively compliant spin- dles is introduced, which allows for the offline tuning of the RD process parame- ters (e.g. feed rate and tool compliance). Both approaches are applied in the design of a robotic workcell for high-accuracy deburring of aerospace turbine blades.},
  annote    = {cited By 2},
  doi       = {10.1007/978-3-319-45781-9_66},
  journal   = {Lecture Notes in Mechanical Engineering},
  url       = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85019646348{\&}doi=10.1007{\%}2F978-3-319-45781-9{\_}66{\&}partnerID=40{\&}md5=7f3aeb37fcb42c4025f39617b767b999 http://link.springer.com/10.1007/978-3-319-45781-9{\_}66},
  url_paper = {http://berselli.xara.hosting/berselli_papers/B2017_2.pdf},
}

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In fact, from a conceptual point of view, anthropomorphic manipulators could effectively provide an excellent alternative to dedicated machine tools (lathes, milling machines, etc.), by being both flexible (due to their lay-out) and cost efficient (20-50% cost reduction as compared to traditional CNC machining). Nonetheless, in order to successfully enable high- quality Robotic Deburring (RD), it is necessary to overcome the intrinsic robot limitations (e.g. reduced structural stiffness, backlash, time-consuming process planning/optimization) by means of suitable design strategies and additional engi- neering tools. Within this context, the purpose of this paper is to present recent advances in design methods and software platforms for RD effective exploitation. Focusing on offline methods for robot programming, two novel approaches are described. On one hand, practical design guidelines (devised via a DOE method) for optimal IR positioning within the robotic workcell are presented. Secondly, a virtual prototyping technique for simulating a class of passively compliant spin- dles is introduced, which allows for the offline tuning of the RD process parame- ters (e.g. feed rate and tool compliance). Both approaches are applied in the design of a robotic workcell for high-accuracy deburring of aerospace turbine blades.","annote":"cited By 2","doi":"10.1007/978-3-319-45781-9_66","journal":"Lecture Notes in Mechanical Engineering","url":"https://www.scopus.com/inward/record.uri?eid=2-s2.0-85019646348\\&doi=10.1007\\%2F978-3-319-45781-9\\_66\\&partnerID=40\\&md5=7f3aeb37fcb42c4025f39617b767b999 http://link.springer.com/10.1007/978-3-319-45781-9\\_66","url_paper":"http://berselli.xara.hosting/berselli_papers/B2017_2.pdf","bibtex":"@InBook{B16,\r\n pages = {655--664},\r\n title = {{Engineering methods and tools enabling reconfigurable and adaptive robotic deburring}},\r\n year = {2017},\r\n author = {Berselli, Giovanni and Gadaleta, Michele and Genovesi, Andrea and Pellicciari, Marcello and Peruzzini, Margherita and Razzoli, Roberto},\r\n type = {(D) Book Chapters},\r\n abstract = {According to recent researches, it is desirable to extend Industrial Ro- bots (IR) applicability to strategic fields such as heavy and/or fine deburring of customized parts with complex geometry. In fact, from a conceptual point of view, anthropomorphic manipulators could effectively provide an excellent alternative to dedicated machine tools (lathes, milling machines, etc.), by being both flexible (due to their lay-out) and cost efficient (20-50{\\%} cost reduction as compared to traditional CNC machining). Nonetheless, in order to successfully enable high- quality Robotic Deburring (RD), it is necessary to overcome the intrinsic robot limitations (e.g. reduced structural stiffness, backlash, time-consuming process planning/optimization) by means of suitable design strategies and additional engi- neering tools. Within this context, the purpose of this paper is to present recent advances in design methods and software platforms for RD effective exploitation. Focusing on offline methods for robot programming, two novel approaches are described. On one hand, practical design guidelines (devised via a DOE method) for optimal IR positioning within the robotic workcell are presented. Secondly, a virtual prototyping technique for simulating a class of passively compliant spin- dles is introduced, which allows for the offline tuning of the RD process parame- ters (e.g. feed rate and tool compliance). 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