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Automated robotic grinding by low-powered manipulator
journal contribution
posted on 2007-10-01, 00:00 authored by Saeid Nahavandi, M Uddin, Y Nasu, Hieu TrinhHieu Trinh, M SaadatA 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.
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Journal
Robotics and computer-integrated manufacturingVolume
23Issue
5Pagination
589 - 598Publisher
ElsevierLocation
Oxford, EnglandPublisher DOI
ISSN
0736-5845Language
engPublication classification
C1 Refereed article in a scholarly journalCopyright notice
2006, Elsevier Ltd.Usage metrics
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