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[期刊论文]

Design of a force-controlled end-effector based on the pneumatic artificial muscle for robotic polishing

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author:

Wu, J. (Wu, J..) [1] | Song, C. (Song, C..) [2] | Xiao, S. (Xiao, S..) [3] | Unfold

Indexed by:

Scopus

Abstract:

Purpose: Polishing is a crucial process in mechanical manufacturing. The use of industrial robots to automate polishing is an inevitable trend in future developments. However, current robotic polishing tools are too large to reach inside deep holes or grooves in workpieces. This study aims to use a pneumatic artificial muscle (PAM) as the actuator and designs a force-controlled end-effector to reach inside the deep and narrow areas in the workpiece. Design/methodology/approach: This approach first addresses the challenge of converting the tensile force generated by the PAM into pushing force through mechanism design. In addition, a dynamics model of the end-effector was established based on the three-element model of the PAM. A combined control strategy was proposed to enhance force control accuracy and adaptability during the polishing process. Findings: Experiments were conducted on a robotic platform equipped with the proposed end-effector. The experimental results demonstrate that the end-effector can polish the inner end face of holes or grooves with diameters as small as 80 mm and depths reaching 200 mm. By implementing the combined control strategies, the target force tracking error was reduced by 48.66% compared to the use of the PID controller alone. Originality/value: A new force-controlled end-effector based on the PAM is designed for robotic polishing. According to the experimental result, this end-effector can polish not only the outer surfaces of the workpiece but also the internal surfaces of workpieces with deep holes or grooves specifically. By using the combined control strategy proposed in this paper, the end-effector significantly improves force control precision and polishing quality. © 2024, Emerald Publishing Limited.

Keyword:

Deep holes or grooves polishing Force-controlled end-effector Industrial robot Pneumatic artificial muscle

Community:

  • [ 1 ] [Wu J.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
  • [ 2 ] [Song C.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
  • [ 3 ] [Xiao S.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
  • [ 4 ] [Lu Y.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
  • [ 5 ] [Wu H.]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China

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Source :

Industrial Robot

ISSN: 0143-991X

Year: 2024

1 . 9 0 0

JCR@2023

CAS Journal Grade:4

Cited Count:

WoS CC Cited Count:

30 Days PV: 0

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