Automated robotic grinding by low-powered manipulator

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

Research output: Contribution to journalArticle

10 Citations (Scopus)


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 languageEnglish
Pages (from-to)589-598
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Issue number5
Publication statusPublished - 1 Oct 2007


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


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