《★Development of a robot system for complex surfaces polishing based on CL data》.pdfVIP

Int J Adv Manuf Technol (2005) 26: 1132–1137 DOI 10.1007/s00170-004-2088-5 O R I G I N A L A R T I C L E ¨ Lin Feng-yun · Lu Tian-sheng Development of a robot system for complex surfaces polishing based on CL data Received: 7 November 2003 / Accepted: 12 January 2004 / Published online: 7 April 2004 © Springer-Verlag London Limited 2004 Abstract In most cases, polishing work is done by manual Today’s overall polishing needs and requirements are rapidly labour. It is an extremely laborious operation that demands a lot changing in the metal-finishing industry worldwide, and also, the of time, so it is very expensive. In this paper, instead of man- ratio of the finishing process time to the whole process time is ual polishing work, a robotic polishing system is introduced. increased with the increasing demand for surface quality. There- A trajectory generator needed for generating the robot polish- fore, manual and old conventional machine polishing methods ing path is taken from the cutter location data generated from are gradually becoming obsolete, and the need for better parts the postprocessor of a CAD system. Using the trajectory gener- quality and flexible, more efficient and cost effective manufac- ator, the present polishing robot doesn’t need the conventional turing and finishing methods, integrated with computer science, complicated teaching process. In order to improve the qual- have encouraged new mechanized polishing approaches and the ity of a workpiece surface, a quaternion interpolation algorithm automation of the polishing process [3, 4]. (QI algorithm) between two CL data is also proposed, which Robotic machining has certain advantages over conventional can realize the smooth interpolation of robot end-effector po