Development of a Two-Arm Robotic System for Surfaces Polishing

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.

• Periodical: Advanced Materials Research (Volume 934)
• Pages: 218-222
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.934.218
• Online since: May 2014
• Authors: Feng Yun Lin*
• Keywords: Kinematics Analysis, Robot Polishing, Two-Arm Robots

References

[1] Y. Takeuchi, D, Ge, N. Asajawa, Automated polishing process with a human-like dexterous robot, Proc. IEEE Int. Conf. on Robotics and Automation. 3 (1993) 950-956.

DOI: 10.1109/robot.1993.292266

[2] Y. Takeuchi, N. Askawa, D.E. Ge, Automation of polishing work by an industrial robot (system of polishing robot), JSME Int. J Series C: Dynamics, Control, Robotics, Design and Manufacturing, 36(4), (1993), 556-561.

DOI: 10.1299/jsmec1993.36.556

[3] Y.N. Hu and Y.H. Chen, Implementation of a robot system for sculptured surface cutting. Part 2. Finish machining, Int J Adv Manuf Technol, 15(9) (1999) 630-639.

DOI: 10.1007/s001700050112

[4] H.Y. Tam and C.H. Lui, Robotic polishing of free-form surfaces using scanning paths. J Mater. Process Technol., 95(1-3), (1999) 191-200.

DOI: 10.1016/s0924-0136(99)00338-6

[5] T. Furukawa and D.C. Rye, Automated polishing of an unknown three-dimensional surface, Robotics and Computer-Integrated Manufacturing, 12(3), (1996) 261-270.

DOI: 10.1016/0736-5845(96)00004-x

[6] P. Ro, B.R. Lee Two-arm kinematic posture optimization for fixtureless assembly. Journal of Robotic Systems, 12(1)(1995) 55-65.

DOI: 10.1002/rob.4620120106

[7] P. Chiacchio, S. Chiaverini, B. Siciliano, Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system, ASME J. Dyn. Syst. Meas. Contr., 118 (1996) 691-697.

DOI: 10.1115/1.2802344

[8] E. Tabarah, B. Benhabib, R.G. Fenton, Optimal motion coordination of two robots - a polynomial parameterization approach to trajectory resolution, Journal of Robotic Systems, 11(7) (1994) 615-629.

DOI: 10.1002/rob.4620110705

[9] S. Ahmad, S. Luo, Coordinated motion control of multiple robotic devices for welding and redundancy coordination through constrained optimization in Cartesian space. IEEE Trans. robotics and automat., 5(4)(1989)409-417.

DOI: 10.1109/70.88055

[10] H. -k. Huang, G.C. Lin, Rapid and flexible prototyping through a dual-robot workcell, Robotics and Computer-Integrated Manufacturing, 19(3) (2003) 263-272.

DOI: 10.1016/s0736-5845(03)00022-x

[11] J. Huang., Interference-free tool-path generation in the NC machining of parametric compound surfaces, Computer-Aided Design, 24(12)1992, 667-677.

DOI: 10.1016/0010-4485(92)90022-3

[12] R. -S. Lin, Y. Koren, Efficient tool-path planning for machining free-form surfaces, Journal of Engineering for Industry, Transactions of the ASME. 118(1) (1996) 20-28.

DOI: 10.1115/1.2803642