A Review on End-effectors of Robotic Grinding

Abstract

Background: As a kind of device applied to grinding, robot grinding end-effector, which combines force control structure, adaptive structure and other structures, has been widely used in machine grinding. Grinding end-effector can be of great help to industrial robot technology used in operations, which require continuous contact, such as polishing, grinding, deburring, chamfering and assembly. Therefore, the structure design of the end-effector will become an inevitable trend in the research on robot grinding in the future. Objective: The existing grinding end-effectors for robot grinding are summarized, and their classification, characteristics and development are introduced. Method: Various products and designs related to grinding end-effector are summarized. The structural features, differences and applications of typical grinding end-effectors are introduced. Results: Three typical end-effectors are analyzed. The structural features and functions are summarized, and the development trend is prospected. The current situation and future research direction of grinding end-effector products and patents are discussed. Conclusion: Grinding end-effectors are classified into the force-controlled grinding end-effector, the adaptive grinding end-effector and the special structure grinding end-effector. The grinding end-effector plays an important role in promoting the development of the robot grinding industry, improving the surface quality of parts and the finishing process. The grinding end-effector needs further improvement in image processing, humanization, force control, and so on. More in-depth research should be carried out in this direction.

Advancing Robotic Gripper Control with the Integration of Flexible Printed Pressure Sensors

“…[4][5][6][7][8] Robot arms are currently equipped with diverse end effectors tailored for specific applications, such as grippers for object manipulation or drivers for screw tightening. [9][10][11] The research on grippers is of utmost importance, as it has a direct impact on the versatility and intelligence of robots. [12][13][14][15][16][17][18][19][20] One essential aspect for enhancing gripper functionality and intelligence is the implementation of pressure sensors.…”

“…[ 4–8 ] Robot arms are currently equipped with diverse end effectors tailored for specific applications, such as grippers for object manipulation or drivers for screw tightening. [ 9–11 ] The research on grippers is of utmost importance, as it has a direct impact on the versatility and intelligence of robots. [ 12–20 ]…”