With the emergence of stable and responsive robotic compliant motion control, introducing robotic grinding and deburring to industry may soon be feasible. Technical needs for this transition include means to accommodate imprecise fixturing, a method for simple, intuitive and dependable programming, and the ability to monitor process progress online. We describe a new hybrid form of Natural Admittance Control that is used to address these challenges.
We present a novel robot design concept intended for material removal in finishing operations.A key component of the design is a cable-driven transmission that exhibits low friction, negligible backlash and high linearity. Use of this transmission in a 2-DOF test rig demonstrated the capacity for stable, smooth performance in grinding and polishing operations. The prototype could be programmed quickly to remove surface flaws using compliant leadthrough for teaching. During grinding, the robot was capable of measuring surface profiles to monitor grinding progress. A full-mobility design concept is proposed for an advanced surface-finishing robot.
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