A practical approach for automated polishing system of free-form surface path generation based on industrial arm robot

Kharidege, Ahmed; Ting, Du; Zhang, Yajun

doi:10.1007/s00170-017-0726-y

Cited by 39 publications

(24 citation statements)

References 20 publications

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“…The implementation of the scanning path patterns for the polishing curve surface utilizing adopted LCW can be seen in Figure 8. High curvature surfaces demand high path densities because According to the literature, the scanning path is one of the most adopted tool path patterns in polishing [5,8,9,30,31]. In this study, the scanning path pattern was selected for the eyeglass frame because mostly part surfaces were long stripes.…”

Section: Tool Path Generation For Individual Part Surfacesmentioning

confidence: 99%

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Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces

Mohsin

et al. 2019

Applied Sciences

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Surface polishing is required in many manufacturing sectors. Currently, it demands a large amount of manual work, which is time-consuming, error-prone, and costly. Additionally, it creates hazards for the workers as it may result in many deadly respiratory diseases. Robotic polishing is the solution to these problems. It can improve productivity, eliminate the defects, and provides consistent product quality. In this paper, an effective approach is presented for the robotic polishing of the complex curved surfaces. The key part of the presented method is the tool path planning with controlled force and polishing parameters optimization evaluated using design of experiments (DOE). The tool path planning is aimed at improving the surface quality and the contact area per path. The constraints of joint limits and productivity are also considered. Moreover, its jerk avoidance strategy allows the robot to move swiftly while ensuring a smooth trajectory. The presented method is verified for the polishing of an eyeglass frame. A considerable improvement of 90% on the average roughness is achieved with the maximum acceptable roughness set at 0.02 µm. The polishing operation takes just 79 secs and the average glossiness of 76 G is achieved on the final product along with the successful elimination of scratches on the surface.

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Section: Tool Path Generation For Individual Part Surfacesmentioning

confidence: 99%

“…These extreme demands place the path and trajectory planning algorithms in the limelight. Path planning utilizing various scanning patterns and space-filling curves have been discussed under automated polishing in several research studies [5][6][7][8][9]. H. Y.…”

Section: Introductionmentioning

confidence: 99%

Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces

Mohsin

et al. 2019

Applied Sciences

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“…Besides optimal parameter achievement, several other methods have been used to improve the automated polishing process. Such methods include improvising of the tool path planning [21][22][23][24], controlled interaction between tool and surface [25][26][27], and the design of new polishing tools for specific or general type workpieces [28][29][30]. However, the optimization of parameters remains a very useful technique that can be implemented together with all these above-mentioned techniques to improve the automated polishing process [2].…”

Section: Introductionmentioning

confidence: 99%

Optimization of the Polishing Efficiency and Torque by Using Taguchi Method and ANOVA in Robotic Polishing

Mohsin

et al. 2020

Applied Sciences

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Surface finishing and polishing are important quality assurance processes in many manufacturing industries. A polished surface (low surface roughness) is linked with many useful properties other than providing an appealing gloss to the product, such as surface friction, electrical and chemical resistance, thermal conductivity, reflection, and product life. All these properties require an efficient polishing system working with the best machining parameters. This study analyzed the effects of the different input polishing parameters on the polishing efficiency and torque in the robotic polishing system for the circular-shaped workpieces (such as ring, cylinder, sphere, cone, etc.) by using the Taguchi method and analysis of variance (ANOVA). A customized rotatory passive gripper is designed to hold the watch bezel during polishing. Under the design of experiments (DOE) technique, Taguchi’s L 18 array is selected to find the optimized process parameters for polishing efficiency (based on surface roughness) and torque. Experimental results with the statistical analysis by signal-to-noise ratio and ANOVA (95% confidence level) confirms that the polishing force and tool speed are the most influencing parameter for polishing efficiency in the system. Linear regression equations are modeled for the polishing efficiency and torque. Finally, a confirmation test is conducted for the validation of the experimentation results against actual results.

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“…Zuo et al [9] presented the research that the workpiece model is reconstructed according to the unified error between prediction model and discrete point cloud to ensure grinding precision and surface quality. Kharidege et al [10] proposed a scheme of an automatic polishing system. And path generated is successfully applied in robotic polishing system.…”

Section: Introductionmentioning

confidence: 99%

Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering

Zhang

Zhao

2019

Int J Adv Manuf Technol

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The nuclear reactor coolant pump (NRCP) is the heart of the nuclear power plant. This paper focuses on robot automation grinding processing for NRCP, which includes scanning, point cloud processing, grinding trajectory generation, and quality evaluation system based on reverse engineering. In this work, firstly, the point cloud of NRCP is obtained by robotic scanner system of hand-eye calibration. Secondly, the research proposes a novel method for point cloud simplification, denoising, and boundary extraction base on k neighborhood octree structure. More important, the efficient trajectory generation of grinding relies on transforming point cloud into adaptive triangular mesh. Lastly, quality evaluation system can calculate the deviation between point cloud and qualified workpiece. And the further path is generated according to the deviation. Experiments show that the accuracy of "246" hand-eye calibration method is less than 0.02 mm. The method of point cloud processing has obvious efficiency advantages over other researchers' algorithms. The final results indicate that the error of grinding is less than 3 mm and efficiency can be improved by 2.5 times compared with manual grinding.

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A practical approach for automated polishing system of free-form surface path generation based on industrial arm robot

Cited by 39 publications

References 20 publications

Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces

Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces

Optimization of the Polishing Efficiency and Torque by Using Taguchi Method and ANOVA in Robotic Polishing

Robot automation grinding process for nuclear reactor coolant pump based on reverse engineering

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