Development of the polishing tool system based on the pneumatic force servo

Cheng, Fan; Zhao, Qizhi; Zhang, Lei; Hongmiao, Zhang

doi:10.1109/icarm.2017.8273147

Cited by 7 publications

(2 citation statements)

References 12 publications

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“…The force controller mainly uses PID. 9,19 In addition, fuzzy PID control is applied to improve PID control with the help of fuzzy rules. 2,16 The aim of adaptive force control is to stabilize the force in the presence of an unknown robot environment.…”

Section: Force Controlmentioning

confidence: 99%

Development of robotic polishing/fettling system on ceramic pots

Lin

2021

International Journal of Advanced Robotic Systems

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Current robot polishing techniques are available for objects with computer-aided design geometric models but not for objects without geometric models such as ceramic or clay pots. In this study, we developed a robotic polishing/fettling system to polish the molding defects of ceramic objects. The polishing force on the object surfaces is required to be constant to obtain better results. Thus, the proposed robotic polishing system was designed with a stepper motor, ball screw, and force sensor. The proposed system acquired a rough robot polishing/fettling trajectory and adopted a fuzzy proportional–integral–derivative controller to regulate the trajectory to maintain the desired contact force response from a ceramic object. We developed the temporary desired value technique to make the polishing force response close to the desired one. We validated the system on a six-degrees-of-freedom Staubli TX 40L robotic arm. Experiments were performed to test the effectiveness of the system. The robot trajectory responses showed that the proposed system performed well in tracking the desired force in the polishing/fettling process. We used a 3D microscope to verify that the molding defect of the ceramic pot was significantly removed to evaluate the polishing/fettling quality.

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Section: Force Controlmentioning

confidence: 99%

Development of robotic polishing/fettling system on ceramic pots

Lin

2021

International Journal of Advanced Robotic Systems

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“…The active compliance control is to realize the closed-loop control of the contact force through the force sensor. In active compliance system, the most widely used drivers are pneumatic cylinder [8] and voice coil motor [9]. In order to avoid excessive contact between the polishing tool and the workpiece surface, the polishing end effector should exhibit certain compliance characteristics.…”

Section: Introductionmentioning

confidence: 99%

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

Qin

et al. 2022

Actuators

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The contact force between the polishing tool and the workpiece is crucial in determining the surface quality in robotic polishing. Different from rigid end-effectors, this paper presents a novel compliant end-effector (CEE) for robotic polishing using flexible beams. The flexibility of the CEE helps to suppress the excessive displacement caused by the inertia of the polishing robot and avoids damaging the polishing tool and workpiece surface. In addition, the contact force can also be precisely estimated via the measurement of the CEE’s displacement using a capacitive position sensor. The design, modeling and experimental validation of the CEE are presented. Firstly, the analytical model of the CEE is established using the stiffness matrix method. Subsequently, the analytical model is verified by finite element analysis. Further, a prototype is manufactured, and its characteristics and performance are experimentally tested. The equivalent stiffness is measured to be 0.335 N/μm, and the first natural frequency along its working direction is 42.1 Hz. Finally, the contact force measurement using the CEE is compared with a force sensor. Under open-loop condition, the resolution of the contact force measurement is found to be 0.025 N, which makes the fine tuning of the contact force possible in robotic polishing.

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Design of a Force-Controlled End-Effector with Slender Flexible Beams

Chen,

Chai

et al. 2023

Lecture Notes in Computer Science

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Development of the polishing tool system based on the pneumatic force servo

Cited by 7 publications

References 12 publications

Development of robotic polishing/fettling system on ceramic pots

Development of robotic polishing/fettling system on ceramic pots

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

Design of a Force-Controlled End-Effector with Slender Flexible Beams

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