A Human-Guided Spherical Robot for the Compliant Grinding of Delicate Workpieces
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Start Page
1014
End Page
1019
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2024
Author(s)
Abstract
A robotic grinding system requires a force-controlled grinding module to provide a consistent surface roughness and a robot arm to position the grinding module to reach a wide range of surface area on a workpiece. Existing pneumatic grinding modules are bulky and energy-inefficient. Existing 6-axis robot arms are often used for grinding positioning, but they require a large accommodation space and have limited access to the surface of a workpiece. This paper proposes a compact 3-axis spherical robot with no grinding surface limitations. The robot has back-drivable actuators and hence can be guided by a human operator to facilitate the path planning of a grinding surface. The proposed grinding module has low reflected inertia and hence can be used to control the grinding force accurately. The proposed grinding module also has a small size, low noise, and minimum energy consumption. Experiments are presented to verify the accuracy of grinding force control. Through an illustration of removing the parting line of a helmet hardshell, the spherical robot is shown to be able to effectively provide grinding treatments on a delicate surface with a wide range of roughness. It is expected that the proposed robot can be widely used in automatic grinding operations.
Event(s)
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024
Subjects
Energy Consumption
Force Control
Grinding And Polishing
Robot-human Interaction
Spherical Robot
Surface Roughness
Grinding Machines
Grinding Mills
Human Robot Interaction
Industrial Robots
Intelligent Robots
Modular Robots
Motion Planning
Robot Programming
Robotic Arms
Energy-consumption
Grinding And Polishing
Grinding Surfaces
Grinding System
Robot Arms
Robot-human Interaction
Robotic Grinding
Spherical Robots
Surface Area
Workpiece
Grinding (machining)
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024. Boston; MA. conference code:202065
Type
conference paper