Surface polishing by industrial robots: a review

Zeng, Xi; Zhu, Guangyi; Gao, Zhuohan; Ji, Renquan; Ansari, Juwer; Lu, Chao

doi:10.1007/s00170-023-10887-3

Cited by 15 publications

(8 citation statements)

References 114 publications

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“…Vibration is a physical quantity that varies continuously with time in the polishing process of a robot. Because vibration can usually be expressed as the rate of change of a physical quantity with time, such as velocity or acceleration, in order to describe the law of change of vibration with time, this paper uses a first-order ordinary differential equation as shown in equation (1),…”

Section: Principle Of Solving Odementioning

confidence: 99%

“…We need to use equation (1) to solve the initial value problem of the ordinary differential equation. Suppose the initial…”

Section: Principle Of Solving Odementioning

confidence: 99%

“…With the development of industrial robotics, automatic robotic grinding and polishing of complex workpiece surfaces has become an inevitable trend [1]. However, in the polishing process of robotic robot, it is difficult to form a good surface contact with the surface of the workpiece using rigid grinding tools, and the surface quality of the polished workpiece is not stable.…”

Section: Introductionmentioning

confidence: 99%

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Monitoring robot machine tool sate via neural ODE and BP-GA

Zhu,

Zeng,

Gong

et al. 2023

Meas. Sci. Technol.

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Tool wear during robotic polishing affects material removal rates and surface roughness, leading to erratic and inconsistent polishing quality. Therefore, a method that can predict the tool state is needed to replace the robot end tool in time. In this paper, based on the cutting-edge neural ordinary differential equations (Neural ODE) and BP neural network optimization based on genetic algorithm (BP-GA), we propose a method to identify the tool state during robotic machining: firstly, a new training method of Neural ODE is proposed to avoid the model from falling into poor stationary points, and then on this basis, Neural ODE is utilized to predict the changes of vibration signals during robot machining; secondly, the predicted vibration signals of the tool are processed using variable modal decomposition method to extract the eigen kurtosis index and envelope entropy of the modal function as the vibration signal eigenvectors, and compare them with the traditional vibration signal eigenvectors. Finally, the predicted tool states were identified using BP-GA, and numerical experiments yielded an F1 score of 91.76% and an accuracy of 96.55% for model identification.

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Section: Principle Of Solving Odementioning

confidence: 99%

“…We need to use equation (1) to solve the initial value problem of the ordinary differential equation. Suppose the initial…”

Section: Principle Of Solving Odementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Monitoring robot machine tool sate via neural ODE and BP-GA

Zhu,

Zeng,

Gong

et al. 2023

Meas. Sci. Technol.

Self Cite

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“…Similarly, the lower plunger and pneumatic motor also form a high pair with point contact. The DOF of the mechanism is shown in equation (10). 24 M = 6(n…”

Section: Physical Modelmentioning

confidence: 99%

“…The CEEs can be divided into two types: active ones and passive ones. 10 Mohammad has presented an active end-effector for automatic polishing. 11 The polishing tool is connected to the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Design of 4-DOF radial floating passive compliant end-effector used for polishing

Liu,

Lu,

Qiu

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Manipulators applied to polishing can avoid the harm of dust and noise to workers’ health in manual polishing, and can significantly increase productivity. The degrees of freedom (DOF) of the existing end-effector for manipulator polishing is insufficient, and then it is difficult to adapt to complex surfaces. A passive compliant end-effector (PCEE) with 4-DOF employing pneumatic floating was designed to solve that problem in this article. According to the included angle between the floating spindle and the plunger, the supporting force functions of floating amount were constructed. Considering the characteristics of the supporting force and the operating modes comprehensively, an appropriate number of plungers was selected. Based on the equilibrium principle of spatial force system, a PCEE was designed by using the floating scheme at both ends, and then a physical model and a simplified model were provided. Eventually, the performances of 4-DOF PCEE are compared with those of the existing 2-DOF compliant end-effector (CEE). The results show that The PCEE can float with 4-DOF; when the number of plungers is 9, all performances meet the design requirements; the polishing force can adapt to the local bulges and overcome the error reflection; the 4-DOF PCEE can adaptively fit the surface to reduce its geometric error.

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