Design of a two-arm robotic system for surfaces polishing

Abstract

Two-arm robots can get a greater structure aRer machining has its speciality compared to other machining flexibility and a better maneuverability, In this paper, instead of process , the purpose of polishing is to reduce surface manual polishing work, a dual industrial robots coordination roughness and improve the surface quality, rather than system for the complex surfaces polishing work is presented. An changing the geometric shape of the surface. Surface adaptive path generation algorithm is proposed for the polishing is more dexterous but the payload is smaller. determination of elficient tool paths. The kinematic models of Polishing also does not require as high a positioning accuracy, two robots and a novel coordinating of two robots for complex Thus, articulated robots, are potentially more suitable for surfaces polishing are established. The effectiveness of the surface polishing automation than machine tools(4). proposed polishing system is proved through computer Only one robot in a common work spacc limits the simulations and through polishing experiments. classes of tasks that can be performed, The coordinated operation of two robots in a work space can improve potential application area of robots, which are beyond the capability of a single robot or the performance can be improved by using polishing, a kind of finishing process done after machining two robot manipulators. Just as a human which uses two arms is necessary to obtain a good surface roughness as well as the has an advantage Over one using one arm and cooperative form accuracy. The automation of machining process has been robot systems have much more advantages than single robot. automated by the process of computer numerical control(CNC) (1) to obtain a larger robot work envelope and a great and computer-aided desigdcomputer-aided capability. @)to get a greater stmcture flexibility and a better manufacturing(CAD/CAM), however, the automation of maneuverability, two robot coordinated system can polishing still remains'behind due to the speciality ofthe work. reconfigure itself to cover three types of five-axis machining Most of polishing process are being manually conducted by ConfigUratiOnS, a continual process can be achieved by operators, depending on their skill and experience, However, continually maneuvering the workpiece during the operation manual polishing is expensive, time consuming, labour execution, this makes the system more flexible than the intensive, and error prone(l,2). Therefore, Manual and old traditional five-axk CNC machine(6). In this paper, a novel conventional machine polishing methods are gradually configuration for complex surfaces polishing is presented. One becoming obsolete, the need for better part quality and flexible, robot grasping the workpiece must be coordinated to align the more efficient, and cost effective manufacturing methods has Polishing Point surface "ml to be anti-parallel to the encouraged new me&,,ized polishing approaches and the direction of the gravity, and the other robot mounting the tool is used to follow the polishing point maintaining tool orientation vector parallel to the surface normal throughout the entire polishing Process.