Design and Experiment of Robotic Belt Grinding System with Constant Grinding Force

Ma, Kaiwei; Wang, Xingsong; Shen, Donghua

doi:10.1109/m2vip.2018.8600899

Cited by 15 publications

(11 citation statements)

References 17 publications

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“…The use of robots in the theatre room for drilling and cutting hard tissues are so widely used due to its flexibility and high precision (Bertelsen et al, 2013). Over the years, several types of surgical robot have been designed and developed to solve the problems encountered in bone drilling and fractured force reduction operations (Ma et al, 2018; Shweikeh et al, 2014). However, there are still some factors mitigating the probability of achieving the expected result during robotic-assisted drilling, with one of them being high vibration during drilling (Adamkowski et al, 2016; Sun et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Experimental measurement of force, torque control and vibration absorber system for intraoperative tele-operated robotic-assisted femoral shaft drilling using air-controlled soft balloon damper

Adewale

Shen

Wang

et al. 2021

Transactions of the Institute of Measurement and Control

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The use of closed intramedullary nailing fixation and drilling technique is a very common, safe and standard method for treating diaphyseal femoral fractures. However, it has several demerits such as high cutting forces and torque during drilling and this could cause high vibration and result in cracks, tool breakage and necrosis of the already fractured bone. This paper presents the measure of force, torque control and vibration absorber system for intra-operative tele-operated robotic-assisted femoral shaft drilling using air-controlled balloon damper experimentally, since bone is surrounded by soft tissues that can cause more severe injury to the tissue due to high traction force. Simulated femur bone and tissue are used for this experiment. A sensor-based model clamping system embedded with controlled pressurized air balloon to damp drilling vibration was developed; the drilling forces were monitored by the force sensor attached to the end robot effector, while the resulted vibration was measured by contact sensor during the entire surgical drilling. Forces and vibration caused by drilling forces acting on the bone at varying damper pressure at varying spindle drill speed were obtained using (EMS 309 data acquisition and then the data were processed using MATLAB R2015b. The vibration results were processed with wavelet packet transform (WPT) using Fast Fourier transform to analyze the vibration signals, frequencies and amplitude of the vibration. This modeled control system is a good concept, results clearly justify that soft clamping fixation system can be employed to reduce force, torque and vibration without causing harm to the delicate surrounding tissues. This control measures can provide surgeons with real-time information which can assist them in repositioning and repair of fracture bone within control and safe margins. It is believed that this idea will have greater future developmental prospect.

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Section: Introductionmentioning

confidence: 99%

Experimental measurement of force, torque control and vibration absorber system for intraoperative tele-operated robotic-assisted femoral shaft drilling using air-controlled soft balloon damper

Adewale

Shen

Wang

et al. 2021

Transactions of the Institute of Measurement and Control

Self Cite

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“…Out of these, the first pattern is the most studied and mastered. All grinding patterns have many common elements, as well as their own features [ 35 , 36 ].…”

Section: Introductionmentioning

confidence: 99%

A Study on the Machinability of Steels and Alloys to Develop Recommendations for Setting Tool Performance Characteristics and Belt Grinding Modes

et al. 2020

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This article presents a methodology for designing belt grinding operations with grinding and lapping machines. It provides the results of a study on the machinability of various steels and alloys with belt grinding, which are then classified according to an indicator that we have developed. Namely, cast aluminum alloys, structural alloy steels, structural carbon steels, corrosion-resistant and heat-resistant stainless steels, and heat-resistant nickel alloys have been investigated. The machinability index is the ratio of the performance indicators of the grinding belt and the depth of cut to the indicators of grade 45 structural carbon steels (similar to steel AISI 1045) and similar steels and alloys. The performance indicators of the grinding belt are chosen from a set of calculated and estimated indicators. Experimentally determining the dependences of the performance indicators on the belt grinding modes and conditions, taking into account the established levels of machinability, allowed us to develop recommendations for designing belt grinding operations with grinding and lapping machines. The proposed methodology for designing belt grinding operations guarantees optimal performance and ensures that the necessary quality of the machinable surfaces is achieved. At the same time, it takes into account variable machining conditions, which change within specified limits.

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“…Ref. [25] proposed a belt grinding system with a constant force control module, which used motor current and the adjustment distance for monitoring. It improved stability but only used limited parameters.…”

Section: Introductionmentioning

confidence: 99%

System Design and Monitoring Method of Robot Grinding for Friction Stir Weld Seam

et al. 2020

Applied Sciences

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In the grinding process of friction stir weld seams, excessive grinding will cause damage to the base metal and bring significant economic losses. In this paper, the authors design a robotic system for grinding the weld seam and present a monitoring method of excessive grinding. The designed system consists of an industrial robot, a line scanner for measuring the weld seam and a force-controlled grinding tool. Since the result of the measurement of the weld seam is a point cloud, the extraction method of the weld seam point cloud based on graph-cut is proposed in this paper. The extracted features are used as prior knowledge of the monitoring algorithm. On the other hand, by combining the features from the point cloud and force-position information during the processing, a monitoring method for excessive grinding based on PSO-SVM is proposed and verified by experiments. The experiments demonstrate that the proposed method can identify excessive grinding, and the accuracy of recognition is 91.5%.

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Design and Experiment of Robotic Belt Grinding System with Constant Grinding Force

Cited by 15 publications

References 17 publications

Experimental measurement of force, torque control and vibration absorber system for intraoperative tele-operated robotic-assisted femoral shaft drilling using air-controlled soft balloon damper

Experimental measurement of force, torque control and vibration absorber system for intraoperative tele-operated robotic-assisted femoral shaft drilling using air-controlled soft balloon damper

A Study on the Machinability of Steels and Alloys to Develop Recommendations for Setting Tool Performance Characteristics and Belt Grinding Modes

System Design and Monitoring Method of Robot Grinding for Friction Stir Weld Seam

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