Automated robotic grinding by low-powered manipulator |
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| Authors: | Saeid Nahavandi Mohammad Jashim Uddin Yasuo Nasu Hieu Trinh Mozafar Saadat |
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| Affiliation: | aIntelligent Systems Research Laboratory, Deakin University, Victoria 3217, Australia;bDepartment of Mechanical Systems Engineering, Yamagata University, Jonan 4-3-16, Yonezawa 992 8510, Japan;cDepartment of Mechanical and Manufacturing Engineering, The University of Birmingham, Edgbaston, Birmingham B15 2TT, UK |
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| Abstract: | A 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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| Keywords: | Direct-drive motor Hybrid position/force control Spring balancer (SB) Suspended robot-arm system (SRAS) Maximum torque limits |
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