Analysis of tool posture control method on curved surface using polishing machine with 5-axis serial-parallel mechanism

Ryosuke Asaga, Shuntaro Yamato, Yasuhiro Kakinuma

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The buffing process used in the repair polishing of an automotive body surface is carried out manually using skilled workers based on their own experience. However, the number of skilled workers available in the workforce is decreasing owing to the aging population. In addition, the surface quality after the buffing process has been applied is dependent on the proficiency level of the polishing worker. Therefore, an automation technology for the buffing process is required. In our previous research, we developed a polishing machine with a 5-axis serial-parallel mechanism, and extracted data on the tool trajectory, tool posture, and polishing force from a skilled worker. In addition, a method for simultaneously controlling the tool posture and polishing force on a curved surface was developed. The polishing machine successfully replicates a skilled buffing process on not only flat surfaces but also curved surfaces without applying a teaching-playback method, CAD data, or external sensors. This paper analyzes the proposed control method from the perspective of posture control, and verifies the utility experimentally on a semispherical surface.

本文言語English
ホスト出版物のタイトルProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2979-2984
ページ数6
ISBN(電子版)9781538611272
DOI
出版ステータスPublished - 2017 12月 15
イベント43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
継続期間: 2017 10月 292017 11月 1

出版物シリーズ

名前Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
2017-January

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
国/地域China
CityBeijing
Period17/10/2917/11/1

ASJC Scopus subject areas

  • 産業および生産工学
  • 制御と最適化
  • エネルギー工学および電力技術
  • 電子工学および電気工学

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