Development and Polishing Process of a Mobile Robot Finishing Large Mold Surface

Abstract

2 A novel self-determination polishing robot finishing large mold free-form surface is developed, and the finishing process method is researched. Contrary to traditional approaches, our premise is that a large mold surface can be polished by using a small robot. This robot system is mainly composed of a polishing robot part, a computer system and a visual positioning system. A type of robot with four uniform distribution wheels was designed, which has two driving wheels and two driven wheels. Active compliant control of the polishing tool was provided by a pneumatic servo system, and a new special compliant abrasive tool was proposed on the basis of robot characteristics. The process planning steps consisted of subdividing the free-form surface, choosing an abrasive tool, planning the polishing path and optimizing machining parameters. Based on the orthogonal experiment and the grey relational analysis method, the optimal parameter combination was obtained for polishing force, tool speed and feed rate. Aiming to polishing times, the surface roughness method and polishing efficiency method were studied in detail. The polishing experiments were carried out in the robot using process parameters obtained by the efficiency method. These research results provided significant theory foundation and experimental data for a mobile robot planning polishing to realize intelligible process parameter selection.

An optimization study of polishing efficiency of blisk and its technological parameters

“…The study indicates that as the number of polishing times increases, roughness presents an exponential declining trend as shown in equation 3. 20 R a = R a0 À R ae ð Þ e ÀlN + R ae ð3Þ…”

Permanent Magnet Absorbed Repairing End Effector for Wall-climbing Robot

“…According to relative position between the cutting tool and workpice/weld seam, the cutting forces on the cutting tool can be classified into three cases: Case 1 is shown in Fig. 2(a): the centralaxis of the cutting tool is vertical to the surface of workpiece [5]. The cutting forces in case 1 include F a (also is F n ), F t and F r .…”

“…PROTOTYPICAL PRODUCE OF THE REE WITH PMASA Fixing the cutting tool in2D cutting force mode, and integrating the specially designed PMASA, a permanent magnet adsorbed REE is designed andprototypeicallyproduced, as shown in Fig.5. Frameworks includestop frame (1), linear shaft (2), linear bushing (3), middle frame (4) and PMASA (5), aiming to guarantee reliable adsorption and flexible movement for the REE.…”

A Robotic grinding station based on an industrial manipulator and vision system

“…When the production line needs to switch to objects of different shapes and volumes, the fixture must be redesigned. This not only consumes labor but also increases the hardware expenditure [ 5 ]; (3) The grinding trajectory of the manipulator and the special equipment are complicated [ 6 ]: the shape and position of burrs are not certain. It is a common practice to polish the location where burrs may appear on the surface of the object during the grinding process.…”