Automation of Polishing Work by an Industrial Robot : System of Polishing Robot

Automation of Polishing Work by an Industrial Robot : System of Polishing Robot

This study deals with the automation of polishing work by use of an industrial robot with 6 degrees of freedom. Since polishing work, which takes much time, requires experience, patience and skill, it is manually performed by skilled workers. This study aims at rationalizing such difficult polishing...

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Veröffentlicht in:JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing Dynamics, control, robotics, design and manufacturing, 1993/12/15, Vol.36(4), pp.556-561
Hauptverfasser: Takeuchi, Yoshimi, Asakawa, Naoki, Ge, Dongfang
Format: Artikel
Sprache:eng
Schlagworte:
CAD
Collision-Free Polishing Path
Coordinate Transformation
Polishing Tool
Robot
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container_end_page 561
container_issue 4
container_start_page 556
container_title JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
container_volume 36
creator Takeuchi, Yoshimi
Asakawa, Naoki
Ge, Dongfang
description This study deals with the automation of polishing work by use of an industrial robot with 6 degrees of freedom. Since polishing work, which takes much time, requires experience, patience and skill, it is manually performed by skilled workers. This study aims at rationalizing such difficult polishing work by introducing a robot and CAD technology. The arm of the robot can be equipped with two kinds of polishing tools, i.e., a rotational tool or an ultrasonic vibrational one, to cope with various cofigurations of the workpiece surface. In addition, the system allows collision-free polishing paths derived from the CAD system to be expressed in the robot coordinate system by use of a touch sensor. The system is found to be effective for obtaining a smooth workpiece surface, based on several experimental results.
doi_str_mv 10.1299/jsmec1993.36.556
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subjects CAD
Collision-Free Polishing Path
Coordinate Transformation
Polishing Tool
Robot
title Automation of Polishing Work by an Industrial Robot : System of Polishing Robot
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