Experimental Study of Robotic Polishing Process for Complex Violin Surface
This paper presents a robotic polishing process for complex violin surfaces to increase efficiency and minimize the cost and consumed time caused by using labor and traditional polishing machines. The polishing process is implemented based on modeling a smooth path, controlled contact force embedded...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/2/147 |
| _version_ | 1827756743190380544 |
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| author | Hosham Wahballa Jinjun Duan Wenlong Wang Zhendong Dai |
| author_facet | Hosham Wahballa Jinjun Duan Wenlong Wang Zhendong Dai |
| author_sort | Hosham Wahballa |
| collection | DOAJ |
| description | This paper presents a robotic polishing process for complex violin surfaces to increase efficiency and minimize the cost and consumed time caused by using labor and traditional polishing machines. The polishing process is implemented based on modeling a smooth path, controlled contact force embedded with gravity compensation and material removal depth. A cubic Non-Uniform Rational Bases-Spline (NURBS) interpolation curve combined with an S-curve trajectory model is used to generate a smooth polishing path on a complex violin surface to achieve stable motion during the polishing process. An online admittance controller added to the fast gravity compensation algorithm maintains an accurate polishing force for equal removal depth on all polished surface areas. Then, based on Pythagorean theory, the removal depth model is calculated for the violin’s complex surface before and after polishing to estimate the accuracy of the polishing process. Experimental studies were conducted by polishing a wooden surface using the 6DOF robot manipulator to validate this methodology. The experimental results demonstrated that the robot had accurate polishing force based on the online admittance controller with gravity compensation. It also showed a precise proportional uniformity of removal depths at the different normal forces of 10, 15, and 20 N. The final results indicated that the proposed experimental polishing approach is accurate and polishes complex surfaces effectively. |
| first_indexed | 2024-03-11T08:31:30Z |
| format | Article |
| id | doaj.art-6c68854adaf8429d8b372d3cc8c0dac7 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T08:31:30Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-6c68854adaf8429d8b372d3cc8c0dac72023-11-16T21:44:32ZengMDPI AGMachines2075-17022023-01-0111214710.3390/machines11020147Experimental Study of Robotic Polishing Process for Complex Violin SurfaceHosham Wahballa0Jinjun Duan1Wenlong Wang2Zhendong Dai3Institute of Bio-Inspired Surface Engineering, School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaInstitute of Bio-Inspired Surface Engineering, School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaInstitute of Bio-Inspired Surface Engineering, School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaInstitute of Bio-Inspired Surface Engineering, School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaThis paper presents a robotic polishing process for complex violin surfaces to increase efficiency and minimize the cost and consumed time caused by using labor and traditional polishing machines. The polishing process is implemented based on modeling a smooth path, controlled contact force embedded with gravity compensation and material removal depth. A cubic Non-Uniform Rational Bases-Spline (NURBS) interpolation curve combined with an S-curve trajectory model is used to generate a smooth polishing path on a complex violin surface to achieve stable motion during the polishing process. An online admittance controller added to the fast gravity compensation algorithm maintains an accurate polishing force for equal removal depth on all polished surface areas. Then, based on Pythagorean theory, the removal depth model is calculated for the violin’s complex surface before and after polishing to estimate the accuracy of the polishing process. Experimental studies were conducted by polishing a wooden surface using the 6DOF robot manipulator to validate this methodology. The experimental results demonstrated that the robot had accurate polishing force based on the online admittance controller with gravity compensation. It also showed a precise proportional uniformity of removal depths at the different normal forces of 10, 15, and 20 N. The final results indicated that the proposed experimental polishing approach is accurate and polishes complex surfaces effectively.https://www.mdpi.com/2075-1702/11/2/147robotic polishingS-curve trajectorycontrolled forcegravity compensationviolin surface |
| spellingShingle | Hosham Wahballa Jinjun Duan Wenlong Wang Zhendong Dai Experimental Study of Robotic Polishing Process for Complex Violin Surface Machines robotic polishing S-curve trajectory controlled force gravity compensation violin surface |
| title | Experimental Study of Robotic Polishing Process for Complex Violin Surface |
| title_full | Experimental Study of Robotic Polishing Process for Complex Violin Surface |
| title_fullStr | Experimental Study of Robotic Polishing Process for Complex Violin Surface |
| title_full_unstemmed | Experimental Study of Robotic Polishing Process for Complex Violin Surface |
| title_short | Experimental Study of Robotic Polishing Process for Complex Violin Surface |
| title_sort | experimental study of robotic polishing process for complex violin surface |
| topic | robotic polishing S-curve trajectory controlled force gravity compensation violin surface |
| url | https://www.mdpi.com/2075-1702/11/2/147 |
| work_keys_str_mv | AT hoshamwahballa experimentalstudyofroboticpolishingprocessforcomplexviolinsurface AT jinjunduan experimentalstudyofroboticpolishingprocessforcomplexviolinsurface AT wenlongwang experimentalstudyofroboticpolishingprocessforcomplexviolinsurface AT zhendongdai experimentalstudyofroboticpolishingprocessforcomplexviolinsurface |