Design and application for robotic polishing system

Author

Dong, Zhang ; Chao, Yun ; Dezheng, Song ; Xiaodong, Lan ; Xiaozhi, Wu

Author_Institution

Sch. of Mech. Eng. & Autom., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2010

fDate

26-28 June 2010

Firstpage

2470

Lastpage

2474

Abstract

In order to improve productivity and to solve the potential shortage of skilled workers in finishing manufacturing, a new type polishing robot, PR-PPRR, was proposed. The hardware of control system was discussed and the structure of control system was analyzed. In this paper, constant polishing force system and control algorithm of polishing force were discussed in detailed. In addition, the calibration of current and polishing force experiment was introduced. A programming system was provided for the system to generate the desired polishing path data. In order to evaluate the performance of the polishing robot system, a polishing experiment of faucet was done and it showed that the system reached design requirements.

Keywords

industrial robots; polishing; robot programming; surface finishing; PR-PPRR; constant polishing force system; control system; current calibration; finishing manufacturing; programming system; robotic polishing system; Automatic control; Control systems; Force control; Intelligent robots; Manipulators; Manufacturing automation; Robot kinematics; Robotics and automation; Rough surfaces; Surface roughness; PLC; force control; polishing system; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5535602

Filename

5535602