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

^*此作品的通讯作者

Guangdong University of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

14 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1858-1863
页数	6
ISBN（电子版）	9781728103761
DOI	https://doi.org/10.1109/ROBIO.2018.8665197
出版状态	已出版 - 2 7月 2018
已对外发布	是
活动	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, 马来西亚期限: 12 12月 2018 → 15 12月 2018

出版系列

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

会议

会议	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
国家/地区	马来西亚
市	Kuala Lumpur
时期	12/12/18 → 15/12/18

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10.1109/ROBIO.2018.8665197

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引用此

Liu, X., Zhang, T., Li, J., Guan, Y., & Liu, G. (2018). A Novel End-effector for Robotic Compliant Polishing. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (页码 1858-1863). 文章 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. 在 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., 页码 1858-1863, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, 马来西亚, 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 等.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 1858-1863 8665197 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A Novel End-effector for Robotic Compliant Polishing

AU - Liu, Xineng

AU - Zhang, Tao

AU - Li, Jian

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.

UR - https://www.scopus.com/pages/publications/85064114631

U2 - 10.1109/ROBIO.2018.8665197

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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