Research on Grinding and Polishing Force Control of Compliant Flange

摘要

The automation of the grinding and polishing process is important to improve the production efficiency of the part surfaces. In this paper, a new compliant flange mounted on the end of the industrial robots for the robotic grinding and polishing force control is developed. With regard to the non-linear and time-varying problem of the contact force, the mathematical model of the new force control system was presented and the fuzzy PID control strategy was used to drive the proposed system. Especially, the air spring and electric proportional valve is studied to establish the model. The simulation results show that the selected control strategy has quick response and good robustness, which satisfies the real-time requirements of the grinding and polishing force control in processing.