Design and constant force control of a parallel polishing machine

Li, Bing; Li, Guotao; Lin, Weiyang; Xu, Peng

doi:10.1109/icist.2014.6920394

Cited by 11 publications

(6 citation statements)

References 14 publications

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“…This gap, addressed in section IV, has important ramifications and implications for both contemporary and upcoming applications. Indeed, as pointed out in experiments presented in section VI, besides crucial safety concerns, compliant motions considerably influence cycle time [13], consistency of product quality [14], and energy consumption [15].…”

Section: State Of the Artmentioning

confidence: 79%

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Kaigom

Rosmann

2021

IEEE Trans. Ind. Inf.

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Although the skills of robot manipulators are becoming technically more complex, the unprecedented costeffective access to recently unveiled intelligent robots has the potential to unleash as yet unimagined automation capabilities. A key technology behind this opportunity for companies to gain a competitive edge through an informed and intelligent robotized automation is the robotic digital twin (RDT). As such, the RDT will be instrumental in mirroring targeted properties of a physical robot to obtain a digital sibling flexibly harnessed in virtual testbeds to understand, predict, and shape the robot performance. However, these objectives remain challenging to well-established simulators. This is because the architectural and functional capabilities they support are not sufficiently in-line with ever-growing and varying demands for agile and cost-efficient manipulations. As a consequence, robot stakeholders can hardly use RDTs to unlock opportunities and meet needs from prospective markets. This paper contributes to addressing this gap. We introduce a novel concept for the development of a RDT that helps create and add value to current and future robotized cyber-physical applications. Hereinafter referred to as the value-driven RDT (vdRDT), it systematically captures the robot dynamics and purposefully farms data, about which its services reason, to facilitate insight and deliver capabilities as well as benefits to stakeholders. Experiment results show that vdRDTs enlarge the scope of, adapt to, and revitalize robotized applications carried out in different fields.

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Section: State Of the Artmentioning

confidence: 79%

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Kaigom

Rosmann

2021

IEEE Trans. Ind. Inf.

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“…It has been described extensively elsewhere in the literatures [26][27][28]. The parallel manipulator is a closed mechanical structure, and it has high stiffness, low inertia, and high dynamic performance.…”

Section: Methodsmentioning

confidence: 99%

Path planning of mechanical polishing process for freeform surface with a small polishing tool

Lin

et al. 2014

Robot. Biomim.

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Products with freeform surface are widely applied in industries, and the surface quality plays an important role in order to fulfill the targeted functions. As polishing path of small polishing tool affects the polishing removal function considerably, it is highly necessary to study the polishing path of freeform surface for obtaining good polishing efficiency and well-proportioned surface quality. By combining the Preston polishing removal function, the material removal model of small polishing tool under the control of constant polishing force and pressure is established. Based on this model, the material removal functions of scan line, Archimedean spiral, and Hilbert fractal polishing path are derived. The simulation results show that the Hilbert fractal polishing path has the best comprehensive performance. By using the projection relation of differential geometry, the optimal path generation algorithm of the Bézier surface based on Hilbert fractal polishing path is established. The polishing experiments are conducted on a self-developed polishing machine which is based on a parallel manipulator. The experimental results demonstrate that the surface roughness is improved from level 9 to level 11.

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“…These guiding mechanisms can even achieve constant force responses [31,32]. Springs that directly apply a constant force are space saving, and a simple alternative to the complex force-feedback systems that are often used to control the actuator force [33,34]. Boudaoud et al [35] used a comb-drive actuator guided by bending beams clamped on both sides, connected to a complex capacitive force sensor.…”

Section: Guiding Mechanisms For Long-stroke Actuatorsmentioning

confidence: 99%

Non-Inchworm Electrostatic Cooperative Micro-Stepper-Actuator Systems with Long Stroke

et al. 2023

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In this paper, we present different microelectromechanical systems based on electrostatic actuators, and demonstrate their capacity to achieve large and stepwise displacements using a cooperative function of the actuators themselves. To explore this, we introduced micro-stepper actuators to our experimental systems, both with and without a guiding spring mechanism; mechanisms with such guiding springs can be applied to comb-drive and parallel-plate actuators. Our focus was on comparing various guiding spring designs, so as to increase the actuator displacement. In addition, we present systems based on cascaded actuators; these are converted to micromechanical digital-to-analog converters (DAC). With DACs, the number of actuators (and thus the complexity of the digital control) are significantly reduced in comparison to analog stepper-actuators. We also discuss systems that can achieve even larger displacements by using droplet-based bearings placed on an array of aluminum electrodes, rather than guiding springs. By commutating the voltages within these electrode arrays, the droplets follow the activated electrodes, carrying platforms atop themselves as they do so. This process thus introduces new applications for springless large displacement stepper-actuators.

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Design and constant force control of a parallel polishing machine

Cited by 11 publications

References 14 publications

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Value-Driven Robotic Digital Twins in Cyber–Physical Applications

Path planning of mechanical polishing process for freeform surface with a small polishing tool

Non-Inchworm Electrostatic Cooperative Micro-Stepper-Actuator Systems with Long Stroke

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