Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach
In this paper, the novel design of a force-controlled end-effector for automated polishing processes is presented. The proposed end-effector is to be integrated into a macro-mini robot polishing cell. The macro robot (in this study, it is a six-axis industrial robot) is used to position the mini rob...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/141458 |
| _version_ | 1826118701454196736 |
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| author | Abd El Khalick Mohammad Hong, Jie Wang, Danwei |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Abd El Khalick Mohammad Hong, Jie Wang, Danwei |
| author_sort | Abd El Khalick Mohammad |
| collection | NTU |
| description | In this paper, the novel design of a force-controlled end-effector for automated polishing processes is presented. The proposed end-effector is to be integrated into a macro-mini robot polishing cell. The macro robot (in this study, it is a six-axis industrial robot) is used to position the mini robot (the proposed end-effector) according to the workpiece profile while the mini robot controls the polishing force. Th end-effector has a polishing head that can be extended and retracted by a linear hollow voice coil actuator to provide tool compliance. The main advantage of the proposed design is that it allows this motion without extending or retracting the polishing motor nor spindle, which reduces the inertial effects that may results in undesired vibrations. By integrating a force sensor, the polishing force is measured and fed back to the controller to regulate it according to the polishing pre-planned requirements. The effectiveness of the proposed device to track a certain desired force with step changes under different feed rates has been examined through polishing experiments. The results demonstrate the effectiveness of the presented device to reduce the vibration and achieve remarkable force tracking. |
| first_indexed | 2024-10-01T04:48:06Z |
| format | Journal Article |
| id | ntu-10356/141458 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:48:06Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1414582020-06-08T09:07:34Z Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach Abd El Khalick Mohammad Hong, Jie Wang, Danwei School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Force-control Low-inertia In this paper, the novel design of a force-controlled end-effector for automated polishing processes is presented. The proposed end-effector is to be integrated into a macro-mini robot polishing cell. The macro robot (in this study, it is a six-axis industrial robot) is used to position the mini robot (the proposed end-effector) according to the workpiece profile while the mini robot controls the polishing force. Th end-effector has a polishing head that can be extended and retracted by a linear hollow voice coil actuator to provide tool compliance. The main advantage of the proposed design is that it allows this motion without extending or retracting the polishing motor nor spindle, which reduces the inertial effects that may results in undesired vibrations. By integrating a force sensor, the polishing force is measured and fed back to the controller to regulate it according to the polishing pre-planned requirements. The effectiveness of the proposed device to track a certain desired force with step changes under different feed rates has been examined through polishing experiments. The results demonstrate the effectiveness of the presented device to reduce the vibration and achieve remarkable force tracking. ASTAR (Agency for Sci., Tech. and Research, S’pore) 2020-06-08T09:07:34Z 2020-06-08T09:07:34Z 2017 Journal Article Abd El Khalick Mohammad, Hong, J., & Wang, D. (2018). Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robotics and Computer-Integrated Manufacturing, 49, 54-65. doi:10.1016/j.rcim.2017.05.011 0736-5845 https://hdl.handle.net/10356/141458 10.1016/j.rcim.2017.05.011 2-s2.0-85019984254 49 54 65 en Robotics and Computer-Integrated Manufacturing © 2017 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Force-control Low-inertia Abd El Khalick Mohammad Hong, Jie Wang, Danwei Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach |
| title | Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach |
| title_full | Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach |
| title_fullStr | Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach |
| title_full_unstemmed | Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach |
| title_short | Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach |
| title_sort | design of a force controlled end effector with low inertia effect for robotic polishing using macro mini robot approach |
| topic | Engineering::Electrical and electronic engineering Force-control Low-inertia |
| url | https://hdl.handle.net/10356/141458 |
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