Modeling and control of automated polishing/deburring process using a dual-purpose compliant toolhead
Modeling and control of automated polishing/deburring process using a dual-purpose compliant toolhead
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DOI：
10.1016/j.ijmachtools.2008.04.009
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发表时间：
2008-10-01
影响因子：
14
通讯作者：
Liu, Kefu
中科院分区：
文献类型：
--
作者：
Liao, Liang;Xi, Fengfeng (Jeff);Liu, Kefu
在本文中，提出了一种新的方法建模和控制的自动抛光/去毛刺过程中，利用一个两用的顺应工具头。该工具头有一个气动主轴，可以通过三个气动执行器进行伸缩，以提供工具的顺应性。通过集成压力传感器和线性编码器，该工具头可用于抛光和去毛刺。对于抛光控制，基于给定的零件几何形状预先规划工具压力，并且通过压力感测应用PID控制器进行压力跟踪。对于去毛刺控制，采用另一个PID控制器通过刀具伸出传感来调节刀具长度。两种控制方法已在抛光/去毛刺机器人上进行了测试和实现，实验结果证明了所提出的方法的有效性。(C)2008爱思唯尔有限公司保留所有权利。
In this paper, a new approach is presented for modeling and control of an automated polishing/deburring process that utilizes a dual-purpose compliant toolhead. This toolhead has a pneumatic spindle that can be extended and retracted by three pneumatic actuators to provide tool compliance. By integrating a pressure sensor and a linear encoder, this toolhead can be used for polishing and deburring. For the polishing control, the tool pressure is pre-planned based on the given part geometry, and a PID controller is applied for pressure tracking though pressure sensing. For the deburring control, another PID controller is applied to regulate the tool length through tool extension sensing. The two control methods have been tested and implemented on a polishing/deburring robot, and the experiment results demonstrate the effectiveness of the presented methods. (C) 2008 Elsevier Ltd. All rights reserved.