TY - GEN
T1 - Simultaneous control of tool posture and polishing force on unknown curved surface for serial-parallel mechanism polishing machine
AU - Oba, Yuta
AU - Yamada, Yuki
AU - Kakinuma, Yasuhiro
N1 - Funding Information:
This study was supported by Industrial Technology Research Grant Program in 2009 from New Energy and Industrial Technology Development Organization (NEDO) of Japan
Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - In the painting process of automotive manufacturing, the buffing process for the repair polishing is done manually by a worker with a sufficient skilled technique. However, the number of a skilled worker is decreasing with the aging of the skilled worker. In addition, the polishing time and the surface quality after the repair polishing are dependent on the proficiency level of the worker. Thus, skill-independent automation technology for the repair polishing is required. In our past research, the serial-parallel mechanism polishing machine was developed to control the tool trajectory, tool posture and polishing force simultaneously. Moreover, a skilled buffing technique was acquired from the skilled worker and the skilled buffing technique was replicated on the flat surface with the use of the developed machine. This study aims to develop a polishing method for unknown curved surface by controlling the tool posture and polishing force in the normal direction to the surface. From the buffing experimental results, the tool posture and polishing force were controlled in the normal direction on unknown curved surface accurately. Finally, by using the developed control method on unknown curved surface and the buffing replication method, the skilled buffing technique was replicated on the unknown curved surface.
AB - In the painting process of automotive manufacturing, the buffing process for the repair polishing is done manually by a worker with a sufficient skilled technique. However, the number of a skilled worker is decreasing with the aging of the skilled worker. In addition, the polishing time and the surface quality after the repair polishing are dependent on the proficiency level of the worker. Thus, skill-independent automation technology for the repair polishing is required. In our past research, the serial-parallel mechanism polishing machine was developed to control the tool trajectory, tool posture and polishing force simultaneously. Moreover, a skilled buffing technique was acquired from the skilled worker and the skilled buffing technique was replicated on the flat surface with the use of the developed machine. This study aims to develop a polishing method for unknown curved surface by controlling the tool posture and polishing force in the normal direction to the surface. From the buffing experimental results, the tool posture and polishing force were controlled in the normal direction on unknown curved surface accurately. Finally, by using the developed control method on unknown curved surface and the buffing replication method, the skilled buffing technique was replicated on the unknown curved surface.
KW - parallel mechanism
KW - polishing
KW - replication
KW - unknown curved surface
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U2 - 10.1109/IECON.2015.7392944
DO - 10.1109/IECON.2015.7392944
M3 - Conference contribution
AN - SCOPUS:84973154817
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 5351
EP - 5356
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -