清晨好,您是今天最早来到科研通的研友!由于当前在线用户较少,发布求助请尽量完整地填写文献信息,科研通机器人24小时在线,伴您科研之路漫漫前行!

Robotic compliant grinding of curved parts based on a designed active force-controlled end-effector with optimized series elastic component

机器人末端执行器 刚度 控制理论(社会学) 研磨 超调(微波通信) 工程类 执行机构 计算机科学 机械工程 机器人 结构工程 人工智能 控制(管理) 电气工程
作者
Haiqing Chen,Jixiang Yang,Han Ding
出处
期刊:Robotics and Computer-integrated Manufacturing [Elsevier BV]
卷期号:86: 102646-102646 被引量:18
标识
DOI:10.1016/j.rcim.2023.102646
摘要

High-accuracy, fast-response, and low-overshoot force control are important to guarantee the material removal accuracy and surface quality of robotic compliant grinding. In order to achieve the above target, this study develops an active compliant force-controlled end-effector based on a series elastic actuator for the robotic grinding of curved parts. Firstly, a decoupled robotic grinding system composed of an industrial robot and an end-effector is developed, and a novel force-controlled end-effector is designed by adding an elastic component between the servo motor and the load to improve compliance. Secondly, the influences of the elastic component and grinding tool stiffness on the stability of the force-controlled end-effector system are analyzed by establishing a contact model of the compliant end-effector and the transfer function of the entire force control system. Then, the stiffness of the grinding tool and the elastic component are optimized with full consideration of the system cutoff frequency and the end-effector compliance. To improve the force tracking accuracies of the developed compliant end-effector, a proportional-integral (PI) controller with first-order differential force feedforward control is designed. Finally, grinding experiments are conducted for verification. The effects of spring stiffness and grinding tool stiffness on the force control system are tested, which match well with the theoretical analysis. Grinding results show that the maximum force control error of the compliant force-controlled end-effector is decreased by 70% compared to that of the rigid force-controlled end-effector, and the overshoot of the force control is reduced from 30% to almost 0 under the same response speed. The maximum and average absolute grinding depth errors using the designed end-effector are reduced by 57.2% and 58.6%, respectively, compared with those of the traditional rigid end-effector, and the average surface roughness of the finished part is reduced by 19.2%. Which demonstrates the effectiveness and advantages of the proposed compliant force-controlled end-effector.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
nano完成签到 ,获得积分10
6秒前
sa完成签到 ,获得积分10
6秒前
珊珊4532完成签到 ,获得积分10
19秒前
桐桐应助ZIS采纳,获得10
20秒前
Yina完成签到 ,获得积分10
28秒前
29秒前
41秒前
和谐的冬莲完成签到 ,获得积分10
48秒前
52秒前
ZIS发布了新的文献求助10
57秒前
孤独听雨的猫完成签到 ,获得积分10
1分钟前
harden9159完成签到,获得积分10
1分钟前
ys1008完成签到,获得积分10
1分钟前
文献蚂蚁完成签到,获得积分10
1分钟前
美满惜寒完成签到,获得积分10
1分钟前
真的OK完成签到,获得积分10
1分钟前
啪嗒大白球完成签到,获得积分10
1分钟前
洋芋饭饭完成签到,获得积分10
1分钟前
CGBIO完成签到,获得积分10
1分钟前
BMG完成签到,获得积分10
1分钟前
朝夕之晖完成签到,获得积分10
1分钟前
嫁个养熊猫的完成签到 ,获得积分10
1分钟前
老迟到的羊完成签到 ,获得积分10
1分钟前
大模型应助科研通管家采纳,获得10
1分钟前
氕氘氚完成签到 ,获得积分10
1分钟前
医学耗材完成签到 ,获得积分10
1分钟前
毕业就集采的苦命人完成签到 ,获得积分10
1分钟前
且行丶且努力完成签到,获得积分10
1分钟前
ranj完成签到,获得积分10
1分钟前
DJ_Tokyo完成签到,获得积分0
2分钟前
墨言无殇完成签到 ,获得积分10
2分钟前
2分钟前
CF完成签到 ,获得积分10
2分钟前
tmobiusx完成签到,获得积分10
2分钟前
mc完成签到 ,获得积分10
2分钟前
我要读博士完成签到 ,获得积分10
3分钟前
辣小扬完成签到 ,获得积分10
3分钟前
3分钟前
gwbk完成签到,获得积分10
3分钟前
jozz完成签到 ,获得积分10
3分钟前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
Cognitive Neuroscience: The Biology of the Mind 1000
Technical Brochure TB 814: LPIT applications in HV gas insulated switchgear 1000
Immigrant Incorporation in East Asian Democracies 600
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
A Preliminary Study on Correlation Between Independent Components of Facial Thermal Images and Subjective Assessment of Chronic Stress 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3968521
求助须知:如何正确求助?哪些是违规求助? 3513358
关于积分的说明 11167301
捐赠科研通 3248700
什么是DOI,文献DOI怎么找? 1794453
邀请新用户注册赠送积分活动 875030
科研通“疑难数据库(出版商)”最低求助积分说明 804664