机器人末端执行器
抛光
运动学
解耦(概率)
铰链
结构工程
计算机科学
接触力
表面粗糙度
工程类
机器人
机械工程
材料科学
控制工程
物理
人工智能
量子力学
经典力学
复合材料
作者
Xiaozhi Zhang,Zhongtao Fu,Guangwei Wang
标识
DOI:10.1109/icarm52023.2021.9536122
摘要
This paper presents the design and analysis of a novel polishing robotic end-effector with 3-degree-of-freedom(3DOF) based on parallel decoupling flexure mechanism(PDFM). The PDFM provides a complaint contact environment between the polishing tool head and workpiece surface to cut down the impact and backlash. Besides, the deformation of the flexure hinges in PDFM is used to measure the contact force with the strain gauge. Based on the force feedback control, the polishing robot with the end-effector can obtain minimum surface roughness and better surface morphology. To describe the relationship between the contact force and deformation of the flexure hinges in PDFM, the pseudo rigid body model is employed. To evaluate the accuracy of the modeling result, the FEA simulation is carried out. The load capacity testing and modal simulation study are conducted to test the performance of end-effector.Note to Practitioners—The motivation of this work is to develop a 3-DOF strictly parallel polishing robot end-effector. A novel parallel-kinematic PDFM with strain gauge are developed. The end-effector owns the independent movement along three axes and large bear capacity. Analytical modeling and simulation study are carried out to validate the performance of the proposed design. Results demonstrate the fine decoupling property of the designed end-effector.
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