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Design of a spatial constant-force end-effector for polishing/deburring operations

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Abstract

Controlling the contact force on workpieces is a challenging task for industrial deburring operations. To solve this issue, a novel constant force mechanism (CFM) based on the combination of positive and negative stiffness mechanism is proposed by using folding beam and bi-stable beam mechanisms. Without using any additional sensors and control algorithms, the proposed CFM can produce a travel range in constant force manner. In this paper, the design concepts, analytical model, finite element analysis (FEA) simulation and experimental studies are presented and discussed. Firstly, a novel spatial CFM is proposed and the pseudo rigid body (PRB) method is used to establish the mathematical model of the whole mechanism. Then, the FEA simulation is performed to validate the correctness of theoretical analysis. In addition, to eliminate the force variation, particle swarm optimization (PSO) method is utilized to find optimal architectural parameters solutions of the CFM. Finally, the experimental tests are performed to verify the performance of the designed CFM. The configuration design and parameter optimization proposed in this paper can be further applied to the design of other types of CFM mechanisms for polishing operations as well.

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Abbreviations

CFM:

Constant force mechanism

FEA:

Finite element analysis

PRB:

Pseudo rigid body

PSO:

Particle swarm optimization

VCM:

Voice coil motor

b :

Related to the bistable beam mechanism

p :

Related to the folding beam mechanism

θ :

Inclination angle

L :

Length of a beam

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Funding

This work is supported by the Huxiang High Level Talent Project of Hunan Province (Grant No. 2019RS1066), the Education Department of Hunan Province (Grant No. 19C1520), the National Natural Science Foundation of China (Grant No. 51575544), and the General Research Fund of the Research Grants Council(RGC) of Hong Kong, China (Grant No. PolyU 152137/19E).

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Authors and Affiliations

  1. School of Physics and Electromechanical Engineering, Jishou University, 416000, Jishou, Hunan, China

    Bingxiao Ding & Jiyu Zhao

  2. Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, 999077, Hung Hom, Hong Kong, SAR, China

    Yangmin Li

Authors
  1. Bingxiao Ding
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  2. Jiyu Zhao
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  3. Yangmin Li
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Corresponding authors

Correspondence to Jiyu Zhao or Yangmin Li.

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The authors declare no competing interests.

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Author contribution

Bingxiao Ding wrote this paper and revised designed mechanism. Jiyu Zhao designed mechanism and conducted experimental verification. Bingxiao Ding and Yangmin Li revised this paper.

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Ding, B., Zhao, J. & Li, Y. Design of a spatial constant-force end-effector for polishing/deburring operations. Int J Adv Manuf Technol 116, 3507–3515 (2021). https://doi.org/10.1007/s00170-021-07579-1

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  • DOI: https://doi.org/10.1007/s00170-021-07579-1

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