Abstract
The polishing process for composite curved parts is currently done by hand or by machine-assisted semi-automatic grinding. In the process of polishing operation, a large amount of composite dust will be generated, which will cause great harm to the body of the polishing operator. And this manual way of working will lead to poor product consistency and low production efficiency. In this regard, this paper designs and builds a set of robot automatic grinding system for the surface characteristics of parts and the requirements of the grinding process. The kinematics model of the robot is established, and the position-based adaptive impedance control method is used to realize the smooth control of the robot grinding force, and the polishing force is optimized according to the polishing surface quality through experimental verification, and the tracking control effect of the polishing force is verified.
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Acknowledgements
Supported by Shaanxi province Major Science and Technology projects (Grant No. 2019zdzx01-01-02), and the key research and development program of Shaanxi province (Grant No. 2020ZDLGY06-10, No. 2021GY-302, No. 2022ZDLGY03-06).
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Yang, L., Zhang, Y., Han, Y., Zhang, B., Wang, Z. (2023). Robot Automatic Polishing Technology of Curved Parts Based on Adaptive Impedance Control. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_127
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DOI: https://doi.org/10.1007/978-981-19-9398-5_127
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