A Review of Robot Grinding and Polishing Force Control Mode

Deng, Yuxin; Wang, Guilian; Yue, Xu; Zhou, Kuntao

doi:10.1109/icma54519.2022.9855998

Cited by 7 publications

(3 citation statements)

References 56 publications

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“…Instead many studies focus on rigid tools such as grinding wheels, sandpaper and abrasive belts etc. 1,2 There have been studies on brush characteristics and polishing effects, [3][4][5][6] but complete robot grinding solution suitable for brush tools is rarely seen.…”

Section: Introductionmentioning

confidence: 99%

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

Rei,

Wang,

Yan

et al. 2024

Advances in Mechanical Engineering

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This article introduces the design of a robot end effector, which can perform constant force grinding on a curved surface using a brush tool without accurately measuring the geometric data of the workpiece. It uses a bidirectional cylinder and spring to create a force balance system as an additional servo degree of freedom to control the grinding brush. The system adopts impedance control method, establishes a complete electric pneumatic model, and uses PID controller to control contact force by adjusting pneumatic pressure to maintain a constant grinding force on the surface. The test results indicate that the system can perform effective rust and paint removal tasks. For paint removal, the removal rate has been proven to be 99.3% through measurement using image processing software, while for rust removal, the results are at a similar level but reliable and quantifiable measurement methods are still being studied. The end effector can be installed on most general-purpose robots for grinding and has potential application value.

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Section: Introductionmentioning

confidence: 99%

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

Rei,

Wang,

Yan

et al. 2024

Advances in Mechanical Engineering

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“…Currently, two prevalent methods of force control are employed for the polishing of complex curved parts. The first method controls the polishing force by adjusting the movement of the multiaxial equipment executing the curved surface path, as in fiveaxis machining centers or industrial robots [16,17]. Due to the lack of an interface for users to arbitrarily modify the control algorithms of multiaxial equipment, some studies can only correct the path of the next polishing cycle through the feedback of the force sensor [18].…”

Section: Introductionmentioning

confidence: 99%

Investigation of Force-Controlled Polishing of Complex Curved PMMA Parts on a Machining Center

Meng,

Wang,

Yin

et al. 2024

Machines

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During the polishing process of complex curved PMMA parts, the polishing force is an important factor affecting the surface quality and optical performance. In this paper, a force-controlled polishing device integrated into a machining center to maintain the polishing force is investigated. In order to achieve the real-time active control of the polishing force, the linear voice coil motor and force sensors are used for motion and measurement. A compact structure was designed to couple the linear motion of the voice coil motor with the rotation for polishing. The force-controlled polishing system with a high real-time hardware architecture was developed to perform complex curved polishing path movement with precise force control. Next, the polishing force between the device and the workpiece was analyzed to obtain the mathematical model of the device. Considering the impact during the approaching phase of polishing, a fuzzy PI controller was proposed to reduce the overshoot and response time. To implement the control method, the controller model was established on Simulink and the control system was developed based on TwinCAT 3 software with real-time computing capability. Finally, a polishing experiment involving a complex curved PMMA part was conducted by a force-controlled polishing device integrated into a five-axis machining center. The results show that the device can effectively maintain the polishing force to improve surface quality and optical performance.

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“…The robotic contact force control technology refers to the technology of maintaining a constant contact force between the robot and the working environment through certain means of compensation. The robotic contact force control methods can be roughly divided into two categories, one of which is through-arm control where force control is performed by directly driving the robot arm, and the other is around-arm control where external end-effectors are mostly used to compensate for tracking errors to achieve control of contact force [11]. In the through-arm control scheme, domestic and foreign scholars [12][13][14] optimized the control strategy and force control algorithm to achieve direct control of contact force at the end of tool through self-compensation of robot.…”

Section: Introductionmentioning

confidence: 99%

The constant force control based on an optimized environmental model for the robotic lapping of curved surface

Shi

Wang

et al. 2023

Int J Adv Manuf Technol

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During the curved surface lapping processing by robot, the surface quality of the processed workpieces cannot be fully guaranteed because of the uncontrollability of lapping contact force. Therefore, the accurate control of the contact force between the tool and the workpiece is important to improve the processing quality. This paper proposes an impedance control strategy based on an optimized environmental model to address the serious constraints brought by the uncertainty of the environmental model in impedance control on the compensation accuracy of contact force, and constructed a contact environmental model of elastic abrasives based on neural network algorithm, which improved the compensation accuracy of contact force through iterative iteration and prediction between the environmental model and the impedance model. Through comparison experiments, it is found that compared with the unoptimized method, the force control tracking error is reduced by 60.9%, the contact force variance is reduced by 25.7%, the contact force error during curved surface force control lapping process is reduced by 58.3% and the contact force variance is reduced by 52.5%, and the workpiece roughness Ra value is reduced by 37.2%. Therefore, the robotic constant force control system based on optimized environmental model can achieve a better force control effect, which can realize accurate and stable control of contact force during curved surface lapping process by robot, and has certain potential for engineering application.

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A Review of Robot Grinding and Polishing Force Control Mode

Cited by 7 publications

References 56 publications

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush

Investigation of Force-Controlled Polishing of Complex Curved PMMA Parts on a Machining Center

The constant force control based on an optimized environmental model for the robotic lapping of curved surface

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