Masters Theses

Keywords and Phrases

Compliant Device; Force And Stiffness Controlller; Pneumatic System; Robotics Polishing


"Polishing is a repetitive task done in an unhealthy environment. Often more than half of the manufacturing time is required to polish a die. The manual polishing process is a tedious work actively rely on a skilled human worker. Industrial Robot has replaced the human in performing these tasks. For robotic polishing to control the polishing force, an active compliant device is used. Due to the compressibility of air, a pneumatic system is preferred as the actuator of the device. The force of the actuator is controlled by regulating air pressure in both chambers of the cylinder. However, to improve productivity, a constant polishing force alone is not sufficient, the stiffness is also considered. The current work involved a new adaptive approach to model and control of the force and stiffness of an active compliant device. The device can adaptively control the compliance and force in real time compensating the gravitational effect due to the mass, gravity, and orientation of the tool. The designed single axis controller consists of a dual acting pneumatic cylinder attached to the end effector of an industrial robot. The effectiveness of the force and stiffness controlled polishing system was proved through experiments"--Abstract, page iii.


Liou, Frank W.

Committee Member(s)

Kinzel, Edward C.
Pan, Heng


Materials Science and Engineering

Degree Name

M.S. in Manufacturing Engineering


Missouri University of Science and Technology

Publication Date

Fall 2016


x, 70 pages

Note about bibliography

Includes bibliographical references (pages 65-69).


© 2016 Mohammad Masud Parvez

Document Type

Thesis - Open Access

File Type




Subject Headings

Grinding and polishing -- Automation -- Design and construction
Pneumatic machinery -- Design and construction
Scientific apparatus and instruments -- Design and construction

Thesis Number

T 11048

Electronic OCLC #


Included in

Manufacturing Commons