Automated robotic grinding by low-powered manipulator
Data(s) |
01/10/2007
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Resumo |
A new robotic grinding process has been developed for a low-powered robot system using a spring balancer as a suspension system. To manipulate a robot-arm in the vertical plane, a large actuator torque is required due to the tool weight and enormous gravity effect. But the actuators of the robot system always exhibit a limited torque capacity. This paper presents a cheap and available system for precise grinding tasks by a low-powered robot system using a suspension system. For grinding operations, to achieve position and force-tracking simultaneously, this paper presents an algorithm of the hybrid position/force-tracking scheme with respect to the dynamic behavior of a spring balancer. Material Removal Rate (MRR) is developed for materials SS400 and SUS304. Simulations and experiments have been carried out to demonstrate the feasibility of the proposed system.<br /><br /><br /> |
Identificador | |
Idioma(s) |
eng |
Publicador |
Elsevier |
Relação |
http://dx.doi.org/10.1016/j.rcim.2005.12.013 |
Direitos |
2006, Elsevier Ltd. |
Palavras-Chave | #direct-drive motor #hybrid position/force control #spring balancer (SB) #suspended robot-arm system (SRAS) #maximum torque limits |
Tipo |
Journal Article |