Path Planning for Robot in Free-Form Surfaces Polishing

J.M. Zhan; Zhi Qiang Cao; Ji Zhao

doi:10.4028/www.scientific.net/KEM.304-305.426

Paper Titles

Theoretical Research on Gear-Honing and Manufacturing Technology with Electroplated CBN Honing Wheel
p.408

Gloss Formation and Its Relationship with Roughness in Granite Grinding
p.413

The Influence of Structural Parameter on Resonance of the Vibrating Disk in Ultrasonic Honing System
p.417

The Experimental Study on Lapping and Polishing of Metal Micro-Coil Based on Silicon Wafer
p.422

Path Planning for Robot in Free-Form Surfaces Polishing
p.426

Kinematics of a 4-DOF Bipod Parallel Grinder
p.431

Research on the Heavy Abrasive Belt Grinding Machine to Reduce Thickness of Engine Connecting Rod Head
p.436

Development of the 3-PTT Parallel Snagging Machine Tool
p.441

Study on Balancing Technology of Hybrid CNC Grinding Machine
p.445

HomeKey Engineering MaterialsKey Engineering Materials Vols. 304-305Path Planning for Robot in Free-Form Surfaces...

Path Planning for Robot in Free-Form Surfaces Polishing

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.

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Periodical:

Key Engineering Materials (Volumes 304-305)

Pages:

426-430

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.304-305.426

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Online since:

February 2006

Authors:

J.M. Zhan, Zhi Qiang Cao, Ji Zhao

Keywords:

Freeform Surfaces, Path Planning, Robot Polishing

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