Design and Analysis of a Compliant End-Effector for Robotic Polishing Using Flexible Beams

Qin, Yanding; Wu, Haitao; Li, Zhiyuan; Sun, Ning; Sun, Lei

doi:10.3390/act11100284

Cited by 4 publications

(3 citation statements)

References 28 publications

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“…Considering the problems of the existing methods mentioned above and based on the idea of combining active and passive compliance, this paper designs a high-precision compliant polishing system driven by a cylinder that can be integrated into the end of an existing robotic arm [22,23]. A cylinder mainly drives the system and uses a high-precision proportional pressure-regulating valve to detect the air pressure inside the cylinder, achieving high-precision contact force control.…”

Section: Introductionmentioning

confidence: 99%

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Li,

Sun,

Liu

et al. 2024

Actuators

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Traditional industrial robots often face challenges in achieving a perfectly polished surface on a workpiece because of their high mechanical rigidity. The active compliance force control device installed at the robotic arm’s end enables high-precision contact force control between the grinding tool and the workpiece. However, the complex hysteresis nonlinearity between cylinder air pressure and output force, as well as various random disturbances during the grinding process, can affect the accuracy of the contact force and potentially impact the grinding effect of the workpiece, even causing irreversible damage to the surface of the workpiece. Given the complex random variation of cylinder output force in the actual grinding process, a rate-dependent hysteresis model based on diagonal recurrent neural network and Pradtl–Ishlinskii models named dRNN-PI is designed to compensate for the complex nonlinear hysteresis of the cylinder and calculate the desired air pressure to maintain a steady contact force on the workpiece. The proxy-based sliding mode control (PSMC) is utilized to quickly track the desired air pressure without overshooting. This paper also proves the controller’s stability using the Lyapunov-based methods. Finally, the accuracy of the proposed hysteresis compensation model and the effectiveness and robustness of the PSMC are verified by experiment results.

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Section: Introductionmentioning

confidence: 99%

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Li,

Sun,

Liu

et al. 2024

Actuators

Self Cite

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“…Among the popular methods for automated polishing, pneumatic polishing systems integrated with robotic arms have emerged as a preferred approach. An essential aspect of automatic polishing is the precise control of the end effector within the pneumatic system of the polishing robot [3,6].…”

Section: Introductionmentioning

confidence: 99%

Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer

Li,

Ding

2023

Machines

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Due to advantages such as a high power-to-weight ratio, a simple structure, and low cost, pneumatic systems are widely applied in automation. However, precise position control of pneumatic actuators is challenging because of factors such as friction, compressibility, and external disturbances. This paper presents a backstepping sliding mode control (BSMC) strategy based on the extended state observer (ESO) for pneumatic cylinder position tracking. A nonlinear model of the pneumatic system is first established, then system states and disturbances are estimated by an ESO, next the BSMC approach is developed using backstepping method and sliding mode control theory, and the stability of the ESO and controller is analyzed using Lyapunov theory. Finally, simulations and experiments on a pneumatic testbed are performed to compare the effectiveness of the proposed approach with PID control. The results show that the proposed strategy improves tracking accuracy and robustness against disturbances, with a 77.04% reduction in root mean square error (RMSE). This research provides a promising control solution for automated pneumatic polishing robots.

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“…Qing developed an analytical model for a CEE by utilizing the stiffness matrix method, obtaining the contact force between the polishing tool and the workpiece through the deformation of the flexible beam during polishing. 19 Zhou established the fuzzy equation static equilibrium of the dual crane system (DCS) according to the virtual work principle, and conducted static response analysis of the system, obtaining better accuracy and higher efficiency. 20 However, the majority of scholars have focused on analyzing the contact force between the end-effector and the polishing tool or workpiece, with little attention given to enhancing end-effector performance through the analysis of force.…”

Section: Introductionmentioning

confidence: 99%

Design of 4-DOF radial floating passive compliant end-effector used for polishing

Liu,

Lu,

Qiu

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Manipulators applied to polishing can avoid the harm of dust and noise to workers’ health in manual polishing, and can significantly increase productivity. The degrees of freedom (DOF) of the existing end-effector for manipulator polishing is insufficient, and then it is difficult to adapt to complex surfaces. A passive compliant end-effector (PCEE) with 4-DOF employing pneumatic floating was designed to solve that problem in this article. According to the included angle between the floating spindle and the plunger, the supporting force functions of floating amount were constructed. Considering the characteristics of the supporting force and the operating modes comprehensively, an appropriate number of plungers was selected. Based on the equilibrium principle of spatial force system, a PCEE was designed by using the floating scheme at both ends, and then a physical model and a simplified model were provided. Eventually, the performances of 4-DOF PCEE are compared with those of the existing 2-DOF compliant end-effector (CEE). The results show that The PCEE can float with 4-DOF; when the number of plungers is 9, all performances meet the design requirements; the polishing force can adapt to the local bulges and overcome the error reflection; the 4-DOF PCEE can adaptively fit the surface to reduce its geometric error.

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Design and Analysis of a Compliant End-Effector for Robotic Polishing Using Flexible Beams

Cited by 4 publications

References 28 publications

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer

Design of 4-DOF radial floating passive compliant end-effector used for polishing

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