Papers by Author: Gang Ming Wang

Abstract: By the hybrid movement/force control policy, machining force could be controlled in aspheric surface polishing. However, the controller could not eliminate and restrain the errors of position and pose which would disturb the force controll consequentially in real system. In this paper, an angle is defined to express all the errors of position and pose for aspheric surface polishing, and the errors are modeled for machining force controll. By detecting this angle, the errors of position and pose could be used by the system controller to eliminate the disturbance in hybrid movement/force controll system and compensate feed movement controll in aspheric surface polishing. Simulation shows that the model could effectively express the errors of position and pose .

Abstract: Because of the industrial robot’s advantages and characteristics of degree of freedom, it is broadly applied in mold and die of curved surfaces polishing. But its excessive degree of freedom also brings great difficulties in programming for there is CAD/CAM software can do it well. By analyzing the ISO NC code and robot’s programming criterion, this paper develops off-line programming software for industrial robots in free-form surfaces polishing.

Abstract: In this paper, a NC compliant abrasive polishing system was developed based on a magnetorheological torque servo (MRT), using a bonnet as the polishing tool. The MRT was uesd to provide a load acting on bonnet tool to produce the polishing force. In order to find the factors affecting the polishing quality, the models of the applied load, polishing force and contact pressure between the bonnet and the part were established based on Hertz theory, and the factors affecting the contact pressure were analyzed. Theoretical analysis indicated that there was a significant effect of the applied load, the initial pressure of the bonnet and the radius of curvature of the part on contact pressure. Experiments were carried out to verify the validity of the models, and experiment results showed that the roughness of the part was improved greatly and the polishing efficiency could be controlled by changing the initial pressure of the bonnet and applied load.