Design of a Novel Force Controlled Polishing Device Based on a Coupled Active-Passive Compliant Mechanism

摘要

Aiming at the demand for a low-cost and precision robotic polishing force control device, this paper proposes a new polishing device driven by a coupled active-passive compliant mechanism, whose active compliant mechanism is composed of a cylinder, while the passive compliant mechanism is formed by three springs. The active-passive compliant mechanism is designed between a cylindrical dynamic/static platform, and the stiffness of this device is analyzed by the finite element method. Based on this, the static model of this device was analyzed, the relationship model between the cylinder air pressure and the output force of the device was obtained, and a real-time polishing force obtaining model based on a one-dimensional force sensor was proposed. Finally, the principle prototype of this device was developed to establish a polishing test platform, and a series of contact force-obtaining comparison experiments were conducted with a 6-D force sensor under different postures, and good experiment results were obtained to verify the accuracy of the proposed polishing force obtaining model and the practicality of the active-passive compliant coupling polishing device.