Abstract
The automation of the grinding and polishing process is important to improve the production efficiency of the part surfaces. In this paper, a new compliant flange mounted on the end of the industrial robots for the robotic grinding and polishing force control is developed. With regard to the non-linear and time-varying problem of the contact force, the mathematical model of the new force control system was presented and the fuzzy PID control strategy was used to drive the proposed system. Especially, the air spring and electric propor- tional valve is studied to establish the model. The simulation results show that the selected control strategy has quick response and good robustness, which satisfies the real-time requirements of the grinding and polishing force control in processing.
Highlights
Robots have provided an effective and economic method to achieve the industrial automation
In the practical engineering applications, it can decouple the force control and the position control by bringing in a compliant end-of-arm tool which is independent of the robots
This paper develops a compliant flange device mounted on the end of industrial robot for the robotic grinding and polishing process
Summary
Robots have provided an effective and economic method to achieve the industrial automation Nowadays, they are widely applied to the automation of the industrial grinding and polishing process. Controlling the contact force is required for the industrial robots in many applications of precision operation. The second method uses the robot for positioning motion only, and an auxiliary compliant end-of-arm tool is added to supply a controlled force. In the practical engineering applications, it can decouple the force control and the position control by bringing in a compliant end-of-arm tool which is independent of the robots. The pneumatic actuator is applied in most compliant flange today by air cylinder or air spring and controls the grinding and polishing force through regulating the air pressure inside the cylinder or air spring. We can use it to grind and polish in a pre-setting force and the processing
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