Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints

García-García, Alberto; Gracia, Luis; Solanes, J. Ernesto; Girbés-Juan, Vicent; Pérez-Vidal, Carlos; Tornero, Josep

doi:10.1016/j.cie.2021.107366

Cited by 6 publications

(5 citation statements)

References 37 publications

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“…Therefore, robotic grinding with low cost, high dexterity and high consistency has broad prospects. Rounding is a common operation in manufacturing to remove sharp edges and burrs [8][9][10]. Currently, it mainly relies on manual tools to process workpiece edges, such as blades, shafts, and gears [11].…”

Section: Introductionmentioning

confidence: 99%

“…Industrial robot position control accuracy is relatively low and there is motion coupling and weak rigidity, the simple robot position control cannot meet the requirements for accurate machining position operations such as grinding and finishing. It is necessary to add compliance control to robot, which includes machining contact force detection and control function in control system [9]. Compliance control is essentially a hybrid control of force and position.…”

Section: Introductionmentioning

confidence: 99%

“…If the contact force is too large and exceeds the range, the workpiece or tool may be damaged. Accurate control of contact force is the key to realize robotic high-performance machining, ensure surface consistency and contour accuracy of complex surface [9]. Industrial robots have the characteristics of weak stiffness, complex stress and strong coupling, it is difficult to control contact force.…”

Section: Introductionmentioning

confidence: 99%

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Study on robot automatic rounding for blade tip based on elastic grinding

Tian,

Qi,

Zhang

et al. 2024

Int J Adv Manuf Technol

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In order to achieve automatic rounding for blade tip, the study was conducted on small radius rounding based on elastic grinding, and a method of robot automatic grinding for small radius fillets of blade tip was proposed.The elastic grinding wheel with polyester ammonia fiber as substrate material is utilized the characteristics of elastic envelope deformation contact to grind sharp angles of blade tip to small radius fillets. Based on elastic contact theory and Preston equation, theoretical contact model and material removal model between grinding wheel and blade tip were established. Abaqus software was used to simulate and analyze the contact stress distribution and grinding removal amount. Simulation result demonstrates that the adaptive elastic contact deformation between grinding wheel and sharp angle of blade tip forms small surface envelope contact pattern and variable grinding removal amount, which can realize small radius fillet machining. Robot automatic rounding experiments for blade tip were conducted to verify feasibility and controllability of the machining method. The research results indicate that the elastic deformation of grinding wheel causes an arc-shaped contact stress distribution in the contact area of blade tip and abrasive coated on the substrate can achieve small radius fillet grinding. The combination of passive compliance formed by elastic grinding deformation and active force control is feasible to realize robot automatic rounding for small radius fillets, and the fillet radius can be controlled by changing grinding process parameters. Robot automatic rounding for blade tip is feasible, and machining process and accuracy are controllable and stable, which breaks through the traditional manual sandpaper grinding method and provides a new small radius fillet processing method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Study on robot automatic rounding for blade tip based on elastic grinding

Tian,

Qi,

Zhang

et al. 2024

Int J Adv Manuf Technol

View full text Add to dashboard Cite

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Section: Objectivementioning

confidence: 99%

“…It must be noted that this chapter corresponds to two published contributions: (García et al, 2020) and (García et al, 2021). Where (García et al, 2021) contributes with a expansion of (García et al, 2020)] with the addition of a boundary constraint to the control scheme. This being the case, this chapter is mostly based on (García et al, 2021), although the results from both applications are shown in the corresponding section.…”

Section: Objectivementioning

confidence: 99%

Robust human-robot collaboration for polishing tasks in the automotive industry

García Fernández

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This work has been financed by the Generalitat Valenciana (ACIF 19 program) and the Universitat Politècnica de València (FPI program, subprogram 1), via their corresponding Formación de Personal Investigador (FPI) grants for predoctoral researchers.A mi padre, que vio empezar esta tesis y no llegó a verla terminar. AgradecimientosMe gustaría empezar por agradecerle esto a mi familia.Mi padre, Amador, una persona maravillosa y una mente brillante que ya no está entre nosotros, y mi madre, Carmina, una persona entregada y cariñosa que ha sido capaz de conseguir los mayores éxitos académicos a la vez que nos ha cuidado y cuida todavía; ellos me han animado a no dejar nunca de aprender y a no tirar la toalla. Mi hermana, Teresa, que ha heredado todo lo bueno de nuestros padres y, de cara a la tesis, me ha ayudado a relativizar y ordenar mis prioridades, sin lo cual no hubiera podido concluirla.A mis abuelos: Concha, que sigue siendo joven en ánimo y salud pese a las adversidades; Amador y Herminio, que trabajaron toda su vida para que hoy mi familia pueda vivir con tranquilidad; y Enriqueta, que no pudo llegar a conocerme y, aun así, supo que todos saldríamos adelante.A mis tíos y tías, a mis primas; y no puedo olvidarme de Amparo. De no ser por ella, me hubiera olvidado la cabeza cada mañana al ir a clase.Por supuesto, como parte de una familia más amplia, a mi pareja, Anna, y a mis amigos. Tengo muchos amigos, algo que me llena de alegría, pero hay algunos que me han acompañado desde el inicio de mi vida en la universidad y quiero nombrarlos: Carlos, Álex Fuster, Claudia, Blai, Bryan, Ana y Ernest.En segundo lugar, quiero agradecerles a mis directores Josep y Luis por su guía y los conocimientos que me han transmitido, a Ernesto, que ha sido mi ángel guardián en el día a día del trabajo de tesis, a Vicent Girbés por compartir conmigo su experiencia y ahorrarme sufrimientos, a Mario y Vicent Franch por toda su ayuda y paciencia, y a todo el personal del IDF, que se ha volcado conmigo.Y, por último, a mis compañeros de TCI, que me han dado fuerzas para terminar la redacción de la tesis a la vez que emprendía mi carrera laboral fuera de la universidad. v La aplicación de técnicas de Control en Modo Deslizante (SMC, por sus Resumen xi siglas en inglés) tanto convencional como no convencional y una arquitectura de control basada en prioridades son las herramientas clave para el desarrollo de estas contribuciones.

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