Sensorless force control of automated grinding/deburring using an adjustable force regulation mechanism

Yu Ling Kuo, Sheng Yuan Huang, Chao-Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Controlling the contact force on workpieces has been a challenging task for industrial grinding/deburring operations. Its realization often requires a grinding spindle with a multi-axis force sensor and controller feedback. The spindle needs to frequently vary its position in order to maintain a constant contact force. The use of sensors and control is costly and introduces extra complexity for grinding tools. To improve the polishing quality of handling workpieces of irregular contours, this paper presents a novel force regulation mechanism (FRM) to be installed on grinding tools. Without using additional sensors and control, the FRM can passively produce an adjusTable NORMAL Contact force between the tooltip and workpiece of various geometry. the spindle does not have to move to regulate the contact force. together with a simple grinder which is much less expensive, this approach offers a more attractive solution in terms of cost and complexity. in this paper, the design concept and simulation results are presented and discussed. a prototype of a grinder with the proposed FRM is illustrated to demonstrate the effectiveness and accuracy of force regulation. this novel mechanism is expected to serve as a reliable alternative for industrial grinding/deburring operation.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9489-9495
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019 May 1
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 2019 May 202019 May 24

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period19-05-2019-05-24

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Kuo, Y. L., Huang, S. Y., & Lan, C-C. (2019). Sensorless force control of automated grinding/deburring using an adjustable force regulation mechanism. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 9489-9495). [8794058] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794058