A Novel End-effector for Robotic Compliant Polishing

摘要

In order to realize the compliant active-force control of polishing robots, a novel end effector was designed. According to the characteristics and technical requirements of polishing process, Axiomatic Design was employed to define the function, behavior and structure of the robot end effector, and a novel polishing mechanism was proposed. The response characteristics and frequency domain characteristics of the actuator's electromechanical system were analyzed in detail. The polishing actuator realized the decoupling of the tool force control and the position control. Experiments showed that the designed robotic polishing end effector has an excellent compliance performance.