A Novel End-effector for Robotic Compliant Polishing

Xineng Liu; Tao Zhang; Jian Li; Yisheng Guan; Guanfeng Liu

doi:10.1109/ROBIO.2018.8665197

A Novel End-effector for Robotic Compliant Polishing

Xineng Liu
, Tao Zhang
, Jian Li
, Yisheng Guan^*
, Guanfeng Liu

^*Corresponding author for this work

Guangdong University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1858-1863
Number of pages	6
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8665197
State	Published - 2 Jul 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

Access to Document

10.1109/ROBIO.2018.8665197

Cite this

Liu, X., Zhang, T., Li, J., Guan, Y., & Liu, G. (2018). A Novel End-effector for Robotic Compliant Polishing. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 1858-1863). Article 8665197 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665197

@inproceedings{6a9e18ea157d4e5bb03e5e7d7038717b,

title = "A Novel End-effector for Robotic Compliant Polishing",

abstract = "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.",

author = "Xineng Liu and Tao Zhang and Jian Li and Yisheng Guan and Guanfeng Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2018.8665197",

language = "英语",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1858--1863",

booktitle = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

address = "美国",

}

Liu, X, Zhang, T, Li, J, Guan, Y & Liu, G 2018, A Novel End-effector for Robotic Compliant Polishing. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665197, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1858-1863, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665197

A Novel End-effector for Robotic Compliant Polishing. / Liu, Xineng; Zhang, Tao; Li, Jian et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1858-1863 8665197 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Zhang, Tao

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AU - Guan, Yisheng

AU - Liu, Guanfeng

PY - 2018/7/2

Y1 - 2018/7/2

N2 - 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.

AB - 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.

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DO - 10.1109/ROBIO.2018.8665197

M3 - 会议稿件

AN - SCOPUS:85064114631

T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

SP - 1858

EP - 1863

BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Y2 - 12 December 2018 through 15 December 2018

ER -

A Novel End-effector for Robotic Compliant Polishing

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