Automated robotic grinding by low-powered manipulator

S Nahavandi; MJ Uddin; Y Nasu; H Trinh; Mozafar Saadat

doi:10.1016/j.rcim.2005.12.013

Automated robotic grinding by low-powered manipulator

S Nahavandi, MJ Uddin, Y Nasu, H Trinh, Mozafar Saadat

Mechanical Engineering

Research output: Contribution to journal › Article

10 Citations (Scopus)

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 toot 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. (C) 2006 Elsevier Ltd. All rights reserved.

Original language	English
Pages (from-to)	589-598
Number of pages	10
Journal	Robotics and Computer-Integrated Manufacturing
Volume	23
Issue number	5
DOIs	https://doi.org/10.1016/j.rcim.2005.12.013
Publication status	Published - 1 Oct 2007

Keywords

maximum torque limits
direct-drive motor
suspended robot-arm system (SRAS)
spring balancer (SB)
hybrid position/force control

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10.1016/j.rcim.2005.12.013

Cite this

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title = "Automated robotic grinding by low-powered manipulator",

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 toot 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. (C) 2006 Elsevier Ltd. All rights reserved.",

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AU - Nahavandi, S

AU - Uddin, MJ

AU - Nasu, Y

AU - Trinh, H

AU - Saadat, Mozafar

PY - 2007/10/1

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AB - 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 toot 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. (C) 2006 Elsevier Ltd. All rights reserved.

KW - maximum torque limits

KW - direct-drive motor

KW - suspended robot-arm system (SRAS)

KW - spring balancer (SB)

KW - hybrid position/force control

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JF - Robotics and Computer-Integrated Manufacturing

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Automated robotic grinding by low-powered manipulator

Abstract

Keywords

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