Simultaneous control of tool posture and polishing force on unknown curved surface for serial-parallel mechanism polishing machine

Yuta Oba, Yuki Yamada, Yasuhiro Kakinuma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5351-5356
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

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Keywords

  • parallel mechanism
  • polishing
  • replication
  • unknown curved surface

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Oba, Y., Yamada, Y., & Kakinuma, Y. (2016). Simultaneous control of tool posture and polishing force on unknown curved surface for serial-parallel mechanism polishing machine. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 5351-5356). [7392944] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392944