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Stick-slip motion control based on cutter location data for an orthogonal-type robot |
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| Authors: | Fusaomi Nagata Takanori Mizobuchi Shintaro Tani Tetsuo Hase Zenku Haga Keigo Watanabe Maki K Habib |
| Affiliation: | 1. Department of Mechanical Engineering, Faculty of Engineering, Tokyo University of Science, Yamaguchi, 1-1-1 Daigaku-dori, Sanyo-onoda, 756-0884, Japan 2. R&D Center, Meiho Co., Nogata, Japan 3. Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 4. Mechanical Engineering Department, School of Sciences and Engineering, American University in Cairo, Cairo, Egypt |
| Abstract: | In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool’s movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity. |
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