Development of 5-axis polishing machine capable of simultaneous trajectory, posture, and force control

Yasuhiro Kakinuma, Keisuke Igarashi, Seiichiro Katsura, Tojiro Aoyama

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)

Abstract

The buffing process for finishing an automobile's body is still done manually, and the final surface quality of the body depends on the skill and technique of the worker. To automate buffing, not only tool path control but also precise and fast force control is required. In this study, a novel methodology based on the sensor-less force control technique and the quarry matrix capable of the mode decoupling is proposed for a parallel mechanism polishing machine to control x-y trajectory, tool posture, and polishing force in z-direction, and its validity for automated buffing is verified.

Original languageEnglish
Pages (from-to)379-382
Number of pages4
JournalCIRP Annals - Manufacturing Technology
Volume62
Issue number1
DOIs
Publication statusPublished - 2013

Keywords

  • Parallel kinematics
  • Polishing
  • Sensor-less force control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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