Application of Compliant Mechanism on the Polishing Robot

摘要

For polishing friable complex transparent pieces surface, compliant mechanism is used on the polishing robot in this paper. Compliant mechanisms on the polishing robot are designed and installed. Polishing experiments are carried out without compliant mechanisms and with compliant mechanisms. The experiments results show that the robot can complete better polishing tasks with compliant mechanisms, through the wrist force sensor collecting the polishing force, and controlling the proper compression height of compliant devices.