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.
Kinzel, Edward C.
Materials Science and Engineering
M.S. in Manufacturing Engineering
Missouri University of Science and Technology
x, 70 pages
© 2016 Mohammad Masud Parvez
Thesis - Open Access
Grinding and polishing -- Automation -- Design and construction
Pneumatic machinery -- Design and construction
Scientific apparatus and instruments -- Design and construction
Electronic OCLC #
Parvez, Mohammad Masud, "Design of an adaptive force and stiffness controlled compliant device for robotic polishing" (2016). Masters Theses. 7614.