A high-bandwidth end-effector with active force control for robotic polishing
To promote operational intelligence, improve surface quality, and reduce manpower dependence, a novel high-bandwidth end-effector with active force control for robotic polishing was proposed. Using this end-effector as a mini robot, a macro-mini robot for polishing processing was constructed, in whi...
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| Main Authors: | , , , , , , , , |
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| 其他作者: | |
| 格式: | Article |
| 語言: | English |
| 出版: |
2021
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| 主題: | |
| 在線閱讀: | https://hdl.handle.net/10356/145812 |
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| 總結: | To promote operational intelligence, improve surface quality, and reduce manpower dependence, a novel high-bandwidth end-effector with active force control for robotic polishing was proposed. Using this end-effector as a mini robot, a macro-mini robot for polishing processing was constructed, in which the macro robot provides posture control during polishing operations, whereas the mini-robot provides constant force control. By minimizing the inertia along the spindle in this configuration, the end-effector obtains a force control bandwidth of 200 Hz. Through a series of comparative experiments with different contact forces and feed rates, the proposed design was proven to have a smaller overshoot, a faster response, and a shorter settling time than the conventional method based on macro robot (KUKA iiwa) controlled force. The roughness of the workpiece reached $0.4~\mu \text{m}$ after polishing with the macro-mini robot, indicating the efficiency of this end-effector in high-precision material removal and surface polishing operations. |
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