Robot polishing control with an active end effector based on macro-micro mechanism and the extended Preston's law

Yasuhiro Kakinuma; Shotaro Ogawa; Katsuki Koto

doi:10.1016/j.cirp.2022.04.074

Robot polishing control with an active end effector based on macro-micro mechanism and the extended Preston's law

Yasuhiro Kakinuma, Shotaro Ogawa, Katsuki Koto

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

There is a strong demand for automating the rough polishing process in plastic-mold manufacturing. In this study, with the active end effector being capable of fast force control and dynamic spindle control, a robot polishing control system based on a macro-micro-mechanism was built, which controls all parameters related to Preston's law and can be linked with computer-aided manufacturing. Based on the extended Preston equation, a polishing control algorithm that achieves uniform surface quality and uniform removal depth was proposed. The spherical rough polishing test on carbon steel demonstrated the efficacy of the proposed robot polishing control.

Original language	English
Pages (from-to)	341-344
Number of pages	4
Journal	CIRP Annals
Volume	71
Issue number	1
DOIs	https://doi.org/10.1016/j.cirp.2022.04.074
Publication status	Published - 2022 Jan

Keywords

Control
Polishing
Robot

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1016/j.cirp.2022.04.074

Cite this

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abstract = "There is a strong demand for automating the rough polishing process in plastic-mold manufacturing. In this study, with the active end effector being capable of fast force control and dynamic spindle control, a robot polishing control system based on a macro-micro-mechanism was built, which controls all parameters related to Preston's law and can be linked with computer-aided manufacturing. Based on the extended Preston equation, a polishing control algorithm that achieves uniform surface quality and uniform removal depth was proposed. The spherical rough polishing test on carbon steel demonstrated the efficacy of the proposed robot polishing control.",

keywords = "Control, Polishing, Robot",

author = "Yasuhiro Kakinuma and Shotaro Ogawa and Katsuki Koto",

note = "Funding Information: This work was partially supported by the JKA Foundation and the YASKAWA Electric Corp. Publisher Copyright: {\textcopyright} 2022 CIRP",

year = "2022",

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AU - Kakinuma, Yasuhiro

AU - Ogawa, Shotaro

AU - Koto, Katsuki

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Y1 - 2022/1

N2 - There is a strong demand for automating the rough polishing process in plastic-mold manufacturing. In this study, with the active end effector being capable of fast force control and dynamic spindle control, a robot polishing control system based on a macro-micro-mechanism was built, which controls all parameters related to Preston's law and can be linked with computer-aided manufacturing. Based on the extended Preston equation, a polishing control algorithm that achieves uniform surface quality and uniform removal depth was proposed. The spherical rough polishing test on carbon steel demonstrated the efficacy of the proposed robot polishing control.

AB - There is a strong demand for automating the rough polishing process in plastic-mold manufacturing. In this study, with the active end effector being capable of fast force control and dynamic spindle control, a robot polishing control system based on a macro-micro-mechanism was built, which controls all parameters related to Preston's law and can be linked with computer-aided manufacturing. Based on the extended Preston equation, a polishing control algorithm that achieves uniform surface quality and uniform removal depth was proposed. The spherical rough polishing test on carbon steel demonstrated the efficacy of the proposed robot polishing control.

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KW - Polishing

KW - Robot

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Robot polishing control with an active end effector based on macro-micro mechanism and the extended Preston's law

Abstract

Keywords

ASJC Scopus subject areas

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