Research of robotic spherical polishing end effector based on finite element simulation

In this paper, using Preston hypothesis and CCOS removal model, analyzing removal function of the spherical polishing end is analyzed as Gaussian distribution, four schemes are proposed to design the robot optical spherical polishing end effector. Through the analysis and comparison of advantages and disadvantages, an optimal solution is obtained and a standardized design is carried out to realize the synthesis of revolution and rotation of the spherical polishing wheel. The design of the spherical polishing tool adopts bevel gear transmission, belt transmission and planetary gear structure. When the motor input is 200r/min, by adjusting the specifications of the pulley, the spherical polishing wheel can achieve a revolution speed of 60r/min and a rotation speed of 100~400r/min. After the design is completed, finite element analysis is performed on the important parts of the structure, and the designed structure meets the strength requirements.