Papers by Keyword: Robot Polishing

Abstract: Finishing process (Grinding and Polishing), is still manually performed, specially in free form surface parts. This involves a series of remaining problems, mainly related with the geometrical shape of the finished part. In traditional manually finishing task, the final quality aspect of the part is the only parameter to be controlled. This supposes a lack in the quality parameter control, mainly in high level parts, as in automotive, aeronautics or mould making parts. Manual finishing has not any control about the amount of material removed, during finishing process, affecting this way to the final geometrical shape of the product. This is the reason why this investigation proposes an exhaustive research of the parameter influencing the finishing tasks, and defining a finishing methodology adapted for an automatic process executed by a spherical robot. Making it an automatic way, and controlling paths, tool, abrasive, and defining a mathematical model for the finishing process, final quality of the part and product will be optimized, from a quality point of view, at the same time process time and cost is reduced.

Abstract: Two-arm robots can get a greater structure flexibility and a better maneuverability, In this paper, a coordination system by using dual industrial robots for parametric surfaces polishing is presented. One robot holds and maneuvers a polishing workpiece, and the other robot moves the polishing tool. In order to improve time efficiency and surface quality, an adaptive path generation algorithm is proposed for the determination of efficient tool paths. The kinematic model of two-arm robots is also discussed.

Abstract: Polishing work is in most cases made by manual labour. It is an extremely laborious operation which demands a lot of time, so it is very expensive. This study aims at rationalizing such difficult polishing work by introducing a robot and CAD technology. Instead of the conventional complicated teaching process. A trajectory generator based on cutter location data generated from the postprocessor of a CAD system is discussed. To realize the smooth interpolation of the tool orientations, a quaternion interpolation algorithm between two CL data is proposed.

Abstract: Based on the direction-parallel path planning method, this paper constructs a kinematics model and an inverse kinematics model for a robotic ultrasonic EDM polishing system, and it presents the arithmetic on joints’ rotating displacements and joints’ rotating speeds. A set of computerized solutions to the two models is developed for the robotic polishing system under the conditions of keeping feed speed Vf and machining angle λ at some constants on free-form surfaces. In this way, it puts forward an easy and efficient way for robot in free-form surfaces polishing.