کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414673 681002 2007 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Automated robotic grinding by low-powered manipulator
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Automated robotic grinding by low-powered manipulator
چکیده انگلیسی

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 tool 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.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 23, Issue 5, October 2007, Pages 589–598
نویسندگان
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