Powiadomienia systemowe
- Sesja wygasła!
Identyfikatory
Warianty tytułu
Języki publikacji
Abstrakty
In traditional industries, manual grinding and polishing technologies are still used predominantly. However, these procedures have the following limitations: excessive processing time, labor consumption, and product quality not guaranteed. To address the aforementioned limitations, this study utilizes the good adaptability of a robotic arm to develop a tool-holding grinding and polishing system with force control mechanisms. Specifically, off-the-shelf handheld grinder is selected and attached to the robotic arm by considering the size, weight, and processing cost of the stainless steel parts. In addition, for contact machining, the robotic arm is equipped with a force/torque sensor to ensure that the system is active compliant. According to the experimental results, the developed system can reduce the surface roughness of 304 stainless steel to 0.47 µm for flat surface and 0.76 µm for circular surface. Moreover, the processing trajectory is programmed in the CAD/CAM software simulation environment, which can lead to good results in collision detection and arm posture establishment.
Rocznik
Tom
Strony
37--43
Opis fizyczny
Bibliogr. 15 poz., rys.
Twórcy
autor
- National Taipei University of Technology, Taiwan
autor
- National Taipei University of Technology, Taiwan
Bibliografia
- [1] J. Li, T. Zhang, X. Liu, Y. Guan and D. Wang, “A Survey of Robotic Polishing”. In: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018, 2125–2132, 10.1109/ROBIO.2018.8664890.
- [2] D. Zhu, X. Xu, Z. Yang, K. Zhuang, S. Yan and H. Ding, “Analysis and assessment of robotic belt grinding mechanisms by force modeling and force control experiments”, Tribology International, vol. 120, 2018, 93–98, 10.1016/j.triboint.2017.12.043.
- [3] K. Ma, X. Wang and D. Shen, “Design and Experiment of Robotic Belt Grinding System with Constant Grinding Force”. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, 1–6, 10.1109/M2VIP.2018.8600899.
- [4] M. Jinno, F. Ozaki, T. Yoshimi, K. Tatsuno, M. Takahashi, M. Kanda, Y. Tamada and S. Nagataki, “Development of a force controlled robot for grinding, chamfering and polishing”. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation, vol. 2, 1995, 1455–1460, 10.1109/ROBOT.1995.525481.
- [5] M. A. Elbestawi, K. M. Yuen, A. K. Srivastava and H. Dai, “Adaptive Force Control for Robotic Disk Grinding”, CIRP Annals, vol. 40, no. 1, 1991, 391–394, 10.1016/S0007-8506(07)62014-9.
- [6] J. A. Dieste, A. Fernández, D. Roba, B. Gonzalvo and P. Lucas, “Automatic Grinding and Polishing Using Spherical Robot”, Procedia Engineering, vol. 63, 2013, 938–946, 10.1016/j.proeng.2013.08.221.
- [7] “Active contact flange”, FerRobotics Compliant Robot Technology GmbH. https://www.ferrobotics.com/en/services/products/active-contact--flange/. Accessed on: 2022-08-30.
- [8] B. Siciliano and L. Villani, Robot Force Control, Springer US, 1999.
- [9] W. B. Rowe, Principles of modern grinding technology, William Andrew, 2014.
- [10] N. Kurihara, S. Yamazaki, T. Yoshimi, T. Eguchi and H. Murakami, “The proposal of automatic task parameter setting system for polishing robot”. In: 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015, 479–481, 10.1109/URAI.2015.7358808.
- [11] J. Kim, W. Lee, H. Yang and Y. Lee, “Real-time monitoring and control system of an industrial robot with 6 degrees of freedom for grinding and polishing of aspherical mirror”. In: 2018 International Conference on Electronics, Information, and Communication (ICEIC), 2018, 1–4, 10.23919/ELINFOCOM.2018.8330691.
- [12] P. G. M. Cáceres. Grinding Force Control of the Cutting Edge of a Blade by a Robot Manipulator, Master’s Thesis, National Taipei University of Technology, Taipei, Taiwan, 2019, https://hdl.handle.net/11296/wnu34a.
- [13] M. Fazeli and M. J. Sadigh, “Adaptive hybrid position/force control for grinding applications”. In: 2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2012, 297–302, 10.1109/CYBER.2012.6392569.
- [14] E. Jansons, J. Lungevics and K. A. Gross, “Surface roughness measure that best correlates to ease of sliding”. In: 15th International Scientific Conference, Engineering for Rural Development, 2016.
- [15] “Stainless Steel Finishes Explained – EN & ASTM,” (2019), Andreas Velling, https://fractory.com/stainless-steel-finishes-en-astm/. Accessed on: 2022-08-30.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-bffb3f47-6a8c-4757-8917-dda34294452c