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Volume 12
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Article

Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control

by
Lin Zhang
1,
Chunlei Zhang
1,* and
Wei Fan
2,*
1
School of Mechanical Engineering, Sichuan University, Chengdu 610065, China
2
Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang 621054, China
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2022, 12(8), 3737; https://doi.org/10.3390/app12083737
Submission received: 9 March 2022 / Revised: 29 March 2022 / Accepted: 5 April 2022 / Published: 7 April 2022
(This article belongs to the Special Issue Advanced Manufacturing Technologies and Their Applications, Volume II)
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Abstract

The normal positioning error hinders the use of magnetorheological finishing (MRF) in robotic polishing. In this paper, the influence of robotic normal positioning error on the MRF removal rate is revealed, and a force-controlled end-effector for the robotic MRF process is presented. The developed end-effector is integrated into a six-axis industrial robot, and the robot positions the end-effector while the end-effector realizes the constant force control. A fused silicon mirror is polished, and the result shows that the proposed device effectively compensates for robotic normal positioning error and simultaneously maintains the stability of the polishing process. After deterministic polishing, the PV (peak to valley) of the figure is reduced from 126.56nm to 56.95nm, and the RMS (root mean square) is reduced from 22.15 nm to 7.59 nm.
Keywords: normal positioning error; robotic polishing; magnetorheological finishing; force-controlled end-effector; constant force control normal positioning error; robotic polishing; magnetorheological finishing; force-controlled end-effector; constant force control

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MDPI and ACS Style

Zhang, L.; Zhang, C.; Fan, W. Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control. Appl. Sci. 2022, 12, 3737. https://doi.org/10.3390/app12083737

AMA Style

Zhang L, Zhang C, Fan W. Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control. Applied Sciences. 2022; 12(8):3737. https://doi.org/10.3390/app12083737

Chicago/Turabian Style

Zhang, Lin, Chunlei Zhang, and Wei Fan. 2022. "Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control" Applied Sciences 12, no. 8: 3737. https://doi.org/10.3390/app12083737

APA Style

Zhang, L., Zhang, C., & Fan, W. (2022). Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control. Applied Sciences, 12(8), 3737. https://doi.org/10.3390/app12083737

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