Abstract
To reduce the environmental impact of abrasive polishing, we investigated fixed-abrasive polishing using a compact robot. We used a five-joint closed-link compact robot with a fine diamond stone on the main axis to polish a glass plate and measured the polishing pressure and polishing force. We analyzed the stick-slip vibration of a glass polishing motion due to the low stiffness of the robot arm and estimated the influence of relative speed changes on the friction coefficient between the glass plate and the abrasive stone. We also used various paths to polish the workpiece to examine the characteristics of the polishing equipment. Based on the results, we proposed a method that can estimate a workpiece's surface roughness based on the friction coefficient. Using the compact robot and a fine diamond stone, the workpiece's surface roughness decreased and polishing processes on the glass plate were more stable.
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