Abstract
In order to improve the quality and to lower programming difficulty in automatic polishing,a compliant polishing toolhead mounted on the wrist of the industrial robots is designed. The 3-RPS compliant parallel mechanism is used to adjust the attitude of the tool while the pneumatic actuator to keep the force at a constant value. The 3-RPS mechanism parameters is optimized by multi-objective optimization model, with the goal of good dynamic performance. Then the control system was designed and the simulation of polishing system was performed by ADAMS and Simulink based on co-simulation. The kinematic data and working space of toolhead are collected during simulation. Also, to further evaluate the system performance, the trajectory planning of the industrial robot when using a rigid tool and the compliant tool to polish the curved surface is compared. The simulation results show that the mechanism is capable of tracing the polishing trajectory and the Control Strategy is effective. The comparison results show that the toolhead can be used in automatic machining process to polish the workpiece with a complex three-dimensional profile under the condition of poor trajectory interpolation precision.
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Acknowledgements
The authors gratefully acknowledge research support from the Natural Science Foundation of Guangdong Province (2016A030313653) and the Science and Technology Plan of Guangzhou City (201607010291). Jiang Fan is corresponding author.
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Chen, J., Jiang, F., Xu, Y., Li, S. (2018). Design and Analysis of a Compliant Parallel Polishing Toolhead. In: Tan, J., Gao, F., Xiang, C. (eds) Advances in Mechanical Design. ICMD 2017. Mechanisms and Machine Science, vol 55. Springer, Singapore. https://doi.org/10.1007/978-981-10-6553-8_84
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DOI: https://doi.org/10.1007/978-981-10-6553-8_84
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