Experimental investigation of Robotic Surface Finishing Using Abrasive Disc

Padmanabhan, S. N.; Halil, Z.; Sun, Yu; Vu, T. T.; Yeo, Song Huat; Wee, Alvin G.

doi:10.18178/ijmmm.2018.6.2.361

Cited by 3 publications

(3 citation statements)

References 4 publications

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“…The results maintain the same value for the surface finish of brass, 0.44 µm, tripling productivity, and keeping the force level at its minimum value. Unlike the study in [ 22 ], the level of roughness obtained with the sanding process is not affected by an increase in the feed rate, in a “saturated state”. This is the main outcome from this work because it will allow optimizing of the process parameters in future sanding tasks with a collaborative robot.…”

Section: Discussionmentioning

confidence: 76%

“…However, other works provide more complex mathematical models that allow obtaining of the minimum number of passes and the characteristics of the abrasive material that should be used to obtain the desired roughness [ 11 , 21 ]. An experimental investigation was developed in [ 22 ], from which the parameters that affect the surface quality in an industrial robot (no collaborative) polishing could be obtained. From this work, it was concluded that the geometry of the workpiece and the cutting speed do not contribute significantly to the roughness response.…”

Section: Introductionmentioning

confidence: 99%

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Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials

et al. 2020

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The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative robots in processing operations, such as orbital sanding. For the demonstration, the tools and working conditions have been adjusted to the capacity of the robot. Materials with different characteristics have been selected, such as aluminium, steel, brass, wood, and plastic. An inner/outer control loop strategy has been used, complementing the robot’s motion control with an outer force control loop. After carrying out an explanatory design of experiments, it was observed that it is possible to perform the operation in all materials, without destabilising the control, with a mean force error of 0.32%. Compared with industrial robots, collaborative ones can perform the same sanding task with similar results. An important outcome is that unlike what might be thought, an increase in the applied force does not guarantee a better finish. In fact, an increase in the feed rate does not produce significant variation in the finish—less than 0.02 µm; therefore, the process is in a “saturation state” and it is possible to increase the feed rate to increase productivity.

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Section: Discussionmentioning

confidence: 76%

Section: Introductionmentioning

confidence: 99%

Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials

et al. 2020

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“…Therefore, the main applications of this software are related to processes where forces must be controlled. The main applications are force monitoring in the processes of machining [12] or polishing [13][14][15]. Robotic joining technologies in which forces play an important role also make extensive use of the capabilities of the Test Signal Viewer software.…”

Section: State Of Knowledgementioning

confidence: 99%

TCP Parameters Monitoring of Robotic Stations

et al. 2022

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The impulse for writing the paper is the observation of the works related to the implementation of robotization of processes such as machining, glue application, welding and painting. The abovementioned processes, in addition to the correct implementation of the trajectory, require the definition of various parameters (e.g., speed) in the robot’s software. In the trajectories where the reconfiguration of the robot arms is observed, there are significant errors in the implementation of the defined speed. Robotic technology suppliers, in the event of speed disturbances, manually increase the defined speed value or experimentally select other parameters. It is a cumbersome process, and the lack of information about the process parameters makes it time-consuming and inaccurate. In this paper, one representative process is selected, namely machining performed with various tools by ABB robots. In order for the robotic process to be controlled, it is necessary to compare the defined path with the speed profile. Then, the speed parameters can be controlled and corrected. The approach proposed in the paper allows for improving the quality of implemented robotic processes. It presents the available IT tools for station monitoring and how to use them. The advantages of the proposed solutions and their limitations are shown in the examples of implementation of robotic stations in the industry.

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