Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control
The normal positioning error hinders the use of magnetorheological finishing (MRF) in robotic polishing. In this paper, the influence of robotic normal positioning error on the MRF removal rate is revealed, and a force-controlled end-effector for the robotic MRF process is presented. The developed e...
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MDPI AG
2022-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/8/3737 |
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| author | Lin Zhang Chunlei Zhang Wei Fan |
| author_facet | Lin Zhang Chunlei Zhang Wei Fan |
| author_sort | Lin Zhang |
| collection | DOAJ |
| description | The normal positioning error hinders the use of magnetorheological finishing (MRF) in robotic polishing. In this paper, the influence of robotic normal positioning error on the MRF removal rate is revealed, and a force-controlled end-effector for the robotic MRF process is presented. The developed end-effector is integrated into a six-axis industrial robot, and the robot positions the end-effector while the end-effector realizes the constant force control. A fused silicon mirror is polished, and the result shows that the proposed device effectively compensates for robotic normal positioning error and simultaneously maintains the stability of the polishing process. After deterministic polishing, the PV (peak to valley) of the figure is reduced from <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>126.56</mn><mi>nm</mi></mrow></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>56.95</mn><mi>nm</mi></mrow></semantics></math></inline-formula>, and the RMS (root mean square) is reduced from <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>22.15</mn><mrow><mo> </mo><mi>nm</mi></mrow></mrow></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>7.59</mn><mrow><mo> </mo><mi>nm</mi></mrow></mrow></semantics></math></inline-formula>. |
| first_indexed | 2024-03-09T11:13:26Z |
| format | Article |
| id | doaj.art-e3de0c650b9b46d0a9fb717dc212f86a |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T11:13:26Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e3de0c650b9b46d0a9fb717dc212f86a2023-12-01T00:37:38ZengMDPI AGApplied Sciences2076-34172022-04-01128373710.3390/app12083737Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force ControlLin Zhang0Chunlei Zhang1Wei Fan2School of Mechanical Engineering, Sichuan University, Chengdu 610065, ChinaSchool of Mechanical Engineering, Sichuan University, Chengdu 610065, ChinaInstitute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang 621054, ChinaThe normal positioning error hinders the use of magnetorheological finishing (MRF) in robotic polishing. In this paper, the influence of robotic normal positioning error on the MRF removal rate is revealed, and a force-controlled end-effector for the robotic MRF process is presented. The developed end-effector is integrated into a six-axis industrial robot, and the robot positions the end-effector while the end-effector realizes the constant force control. A fused silicon mirror is polished, and the result shows that the proposed device effectively compensates for robotic normal positioning error and simultaneously maintains the stability of the polishing process. After deterministic polishing, the PV (peak to valley) of the figure is reduced from <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>126.56</mn><mi>nm</mi></mrow></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>56.95</mn><mi>nm</mi></mrow></semantics></math></inline-formula>, and the RMS (root mean square) is reduced from <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>22.15</mn><mrow><mo> </mo><mi>nm</mi></mrow></mrow></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>7.59</mn><mrow><mo> </mo><mi>nm</mi></mrow></mrow></semantics></math></inline-formula>.https://www.mdpi.com/2076-3417/12/8/3737normal positioning errorrobotic polishingmagnetorheological finishingforce-controlled end-effectorconstant force control |
| spellingShingle | Lin Zhang Chunlei Zhang Wei Fan Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control Applied Sciences normal positioning error robotic polishing magnetorheological finishing force-controlled end-effector constant force control |
| title | Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control |
| title_full | Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control |
| title_fullStr | Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control |
| title_full_unstemmed | Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control |
| title_short | Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control |
| title_sort | robotic magnetorheological finishing technology based on constant polishing force control |
| topic | normal positioning error robotic polishing magnetorheological finishing force-controlled end-effector constant force control |
| url | https://www.mdpi.com/2076-3417/12/8/3737 |
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