Contact force controlled robotic polishing for complex PMMA parts with an active end-effector

Yang YU; Ruoqi WANG; Yingpeng WANG; Yuwen SUN

doi:10.51393/j.jamst.2021012

Volume 1 Issue 4

Dec. 2021

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Yang YU, Ruoqi WANG, Yingpeng WANG, Yuwen SUN. Contact force controlled robotic polishing for complex PMMA parts with an active end-effector[J]. Journal of Advanced Manufacturing Science and Technology , 2021, 1(4): 2021012. doi: 10.51393/j.jamst.2021012

Citation:

Yang YU, Ruoqi WANG, Yingpeng WANG, Yuwen SUN. Contact force controlled robotic polishing for complex PMMA parts with an active end-effector[J]. Journal of Advanced Manufacturing Science and Technology , 2021, 1(4): 2021012. doi: 10.51393/j.jamst.2021012

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Contact force controlled robotic polishing for complex PMMA parts with an active end-effector

doi: 10.51393/j.jamst.2021012

School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China

Funds:

This research is supported by the National Natural Science Foundation of China (Grant Nos. 91948203 and 51525501).

Received Date: 2021-12-01
Rev Recd Date: 2021-05-05
Publish Date: 2021-12-12

Abstract

Abstract

Due to the advantages in weather resistance, light transmittance and dimension stability, PMMA has been widely used in various fields such as aerospace and optical engineering. However, fully automatic robot systems are seldom used for polishing complex PMMA parts with high surface integrity. Therefore, a robotic polishing system with a new active end-effector is developed in this paper. In the system, a 6-degree-of-freedom industrial robot is utilized to polish the part profile along the preprogrammed paths, and then the system configuration is introduced in detail. For precisely controlling the normal contact force, both a linear voice coil motor and a force sensor are used in the designed end-effector. Meanwhile, a tilt sensor is also used to compensate the gravity component of the polishing tool along the force-controlled direction. Subsequently, a hybrid force controller, which consists of a PID controller and a Fuzzy controller, is designed to maintain the contact force between the polishing tool and the part within an allowable range. Finally, validation experiments are conducted with the designed robotic polishing system on a complex PMMA part. The experimental results show that the proposed robotic polishing system can strictly control the normal contact force and ensure high surface integrity of the PMMA part.
- robotic polishing,
- PMMA,
- active end-effector,
- fuzzy PID,
- gravity compensation

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References(27)

References

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