Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems

Hong, Jie; Mohammad, Abd El Khalick; Wang, Danwei

Abstract

The macro-mini robot polishing system has been widely used in polishing processes where an auxiliary actuator is used to control the polishing force. Generally, in this approach, the auxiliary actuator moves the polishing motor, the polishing spindle and the polishing head which are considerable loads. Hence, if these loads are carried by the auxiliary actuator, its holding force needs to be increased and consequently its physical size and inertia should be increased. In order to address this problem, the authors propose a novel mechanical design of the mini robot to reduce the moving inertia of the auxiliary actuator. Experimental results have verified that the proposed modified design enhances the force tracking performance efficaciously.

Citation

Hong, J., Mohammad, A. E. K., & Wang, D. (2017, February). Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems. Presented at 3rd International Conference on Mechatronics and Robotics Engineering, Paris, France

• Presentation Conference Type: Edited Proceedings
• Conference Name: 3rd International Conference on Mechatronics and Robotics Engineering
• Start Date: Feb 8, 2017
• End Date: Feb 12, 2017
• Online Publication Date: Feb 8, 2017
• Publication Date: Feb 8, 2017
• Deposit Date: Jan 19, 2024
• Publisher: Association for Computing Machinery (ACM)
• Pages: 36-41
• Series Title: ACM International Conference Proceeding Series
• Book Title: ICMRE 2017: Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering
• ISBN: 9781450352802
• DOI: https://doi.org/10.1145/3068796.3068809
• Public URL: https://nottingham-repository.worktribe.com/output/29840881
• Publisher URL: https://dl.acm.org/doi/10.1145/3068796.3068809