Robotic polishing of pilger-die

Sharma, Kamal; Shirwalkar, Varsha; Das, Amaren P.; Pal, Prabir

doi:10.1145/2783449.2783468

Cited by 1 publication

(1 citation statement)

References 5 publications

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“…At present, most of the existing literature associated with waxing automation lies in patent reports [ 2 , 3 , 4 , 5 ], and there are few technical articles that provide data reference. Thus, we based our design on existing robotic systems developed to perform motions similar to those used in waxing, such as grinding [ 6 ], deburring [ 7 , 8 ], and polishing [ 9 , 10 , 11 , 12 , 13 , 14 ]. The objective of those engineering applications was not to alter the geometric shape of the workpiece, but rather to adjust the surface roughness to within set standards.…”

Section: Introductionmentioning

confidence: 99%

Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles

Lin

Hsu

2018

Sensors

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Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme.

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