{"title":"用于钢丝刷恒力机器人打磨的自适应电动气动末端执行器","authors":"Chosei Rei, Qiang Wang, Xinhua Yan, Liwei Fu, Peng Zhang, Chong Wang","doi":"10.1177/16878132241244918","DOIUrl":null,"url":null,"abstract":"This article introduces the design of a robot end effector, which can perform constant force grinding on a curved surface using a brush tool without accurately measuring the geometric data of the workpiece. It uses a bidirectional cylinder and spring to create a force balance system as an additional servo degree of freedom to control the grinding brush. The system adopts impedance control method, establishes a complete electric pneumatic model, and uses PID controller to control contact force by adjusting pneumatic pressure to maintain a constant grinding force on the surface. The test results indicate that the system can perform effective rust and paint removal tasks. For paint removal, the removal rate has been proven to be 99.3% through measurement using image processing software, while for rust removal, the results are at a similar level but reliable and quantifiable measurement methods are still being studied. The end effector can be installed on most general-purpose robots for grinding and has potential application value.","PeriodicalId":7357,"journal":{"name":"Advances in Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush\",\"authors\":\"Chosei Rei, Qiang Wang, Xinhua Yan, Liwei Fu, Peng Zhang, Chong Wang\",\"doi\":\"10.1177/16878132241244918\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article introduces the design of a robot end effector, which can perform constant force grinding on a curved surface using a brush tool without accurately measuring the geometric data of the workpiece. It uses a bidirectional cylinder and spring to create a force balance system as an additional servo degree of freedom to control the grinding brush. The system adopts impedance control method, establishes a complete electric pneumatic model, and uses PID controller to control contact force by adjusting pneumatic pressure to maintain a constant grinding force on the surface. The test results indicate that the system can perform effective rust and paint removal tasks. For paint removal, the removal rate has been proven to be 99.3% through measurement using image processing software, while for rust removal, the results are at a similar level but reliable and quantifiable measurement methods are still being studied. The end effector can be installed on most general-purpose robots for grinding and has potential application value.\",\"PeriodicalId\":7357,\"journal\":{\"name\":\"Advances in Mechanical Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-04-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Advances in Mechanical Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1177/16878132241244918\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Advances in Mechanical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/16878132241244918","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An adaptive electropneumatic end effector for constant force robot grinding with steel wire brush
This article introduces the design of a robot end effector, which can perform constant force grinding on a curved surface using a brush tool without accurately measuring the geometric data of the workpiece. It uses a bidirectional cylinder and spring to create a force balance system as an additional servo degree of freedom to control the grinding brush. The system adopts impedance control method, establishes a complete electric pneumatic model, and uses PID controller to control contact force by adjusting pneumatic pressure to maintain a constant grinding force on the surface. The test results indicate that the system can perform effective rust and paint removal tasks. For paint removal, the removal rate has been proven to be 99.3% through measurement using image processing software, while for rust removal, the results are at a similar level but reliable and quantifiable measurement methods are still being studied. The end effector can be installed on most general-purpose robots for grinding and has potential application value.
期刊介绍:
Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering