Influence of different parameters on drilling forces in automated drilling of concrete with industrial robots

Abstract

The aim of this study is to analyse the forces between hammer drill and robot during automated concrete drilling. A series of tests was carried out with a 6-axis industrial robot system using an end effector newly-designed to hammer-drill concrete. The parameters investigated within the experiments consisted of three drilling directions, four drilling diameters and three feed rate levels which differ between the diameters. The results show that the drilling time decreases with higher feed rates, yet not proportional to the observed increase of drilling forces. Based on the obtained results further investigations need to be carried out to find adequate parameters for an optimal drilling process.