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Automated robotic grinding by low-powered manipulator

Nahavandi, Saeid, Uddin, Mohammad Jashim, Nasu, Yasuo, Trinh, Hieu and Saadat, Mozafar 2007, Automated robotic grinding by low-powered manipulator, Robotics and computer-integrated manufacturing, vol. 23, no. 5, pp. 589-598, doi: 10.1016/j.rcim.2005.12.013.

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Title Automated robotic grinding by low-powered manipulator
Author(s) Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Uddin, Mohammad Jashim
Nasu, Yasuo
Trinh, HieuORCID iD for Trinh, Hieu orcid.org/0000-0003-3438-9969
Saadat, Mozafar
Journal name Robotics and computer-integrated manufacturing
Volume number 23
Issue number 5
Start page 589
End page 598
Publisher Elsevier
Place of publication Oxford, England
Publication date 2007-10
ISSN 0736-5845
Keyword(s) direct-drive motor
hybrid position/force control
spring balancer (SB)
suspended robot-arm system (SRAS)
maximum torque limits
Summary A new robotic grinding process has been developed for a low-powered robot system using a spring balancer as a suspension system. To manipulate a robot-arm in the vertical plane, a large actuator torque is required due to the tool weight and enormous gravity effect. But the actuators of the robot system always exhibit a limited torque capacity. This paper presents a cheap and available system for precise grinding tasks by a low-powered robot system using a suspension system. For grinding operations, to achieve position and force-tracking simultaneously, this paper presents an algorithm of the hybrid position/force-tracking scheme with respect to the dynamic behavior of a spring balancer. Material Removal Rate (MRR) is developed for materials SS400 and SUS304. Simulations and experiments have been carried out to demonstrate the feasibility of the proposed system.


Language eng
DOI 10.1016/j.rcim.2005.12.013
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2006, Elsevier Ltd.
Persistent URL http://hdl.handle.net/10536/DRO/DU:30007783

Document type: Journal Article
Collection: School of Engineering and Information Technology
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