A New Design of Flexible Constant Force Grinding Head and Experimental Verification

摘要

Surface finish is an important index of geometric shape error for many manufactured parts. So far, surface polishing is heavily dependent on the skill of the trained workers, which is low efficient, quality inconsistent, error-prone and environmentally unfriendly. This paper presents a new design of constant force end-effector device used in flexible robot polishing system. The study pays close attention to control of the interactional force and relative velocity between the polishing tool and the workpiece surface. In comparison to the manually polished parts, the polishing experimental result with the new design shows that the end-effector installed on the polishing robot system has higher quality and productivity.